US6024576A - Hemispherical, high bandwidth mechanical interface for computer systems - Google Patents

Hemispherical, high bandwidth mechanical interface for computer systems Download PDF

Info

Publication number
US6024576A
US6024576A US08/709,012 US70901296A US6024576A US 6024576 A US6024576 A US 6024576A US 70901296 A US70901296 A US 70901296A US 6024576 A US6024576 A US 6024576A
Authority
US
United States
Prior art keywords
freedom
members
mechanism
recited
coupled
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
US08/709,012
Inventor
JoeBen Bevirt
David F. Moore
John Q. Norwood
Louis B. Rosenberg
Mike D. Levin
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Immersion Corp
Original Assignee
Immersion Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Immersion Corp filed Critical Immersion Corp
Priority to US08/709,012 priority Critical patent/US6024576A/en
Assigned to IMMERSION HUMAN INTERFACE CORPORATION reassignment IMMERSION HUMAN INTERFACE CORPORATION ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: NORWOOD, JOHN Q., LEVIN, MIKE D., BEVIRT, JOEBEN, MOORE, DAVID F., ROSENBERG, LOUIS B.
Assigned to IMMERSION CORPORATION reassignment IMMERSION CORPORATION ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: IMMERSION HUMAN INTERFACE CORPORATION
Assigned to IMMERSION CORPORATION (DELAWARE CORPORATION) reassignment IMMERSION CORPORATION (DELAWARE CORPORATION) MERGER (SEE DOCUMENT FOR DETAILS). Assignors: IMMERSION CORPORATION (CALIFORNIA CORPORATION)
Application granted granted Critical
Publication of US6024576A publication Critical patent/US6024576A/en
Anticipated expiration legal-status Critical
Application status is Expired - Lifetime legal-status Critical

Links

Images

Classifications

    • GPHYSICS
    • G09EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09BEDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B23/00Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
    • G09B23/28Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
    • G09B23/285Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • A61B34/71Manipulators operated by drive cable mechanisms
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • A61B34/76Manipulators having means for providing feel, e.g. force or tactile feedback
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05GCONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016Input arrangements with force or tactile feedback as computer generated output to the user
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0338Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/05Digital input using the sampling of an analogue quantity at regular intervals of time, input from a/d converter or output to d/a converter
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • A61B34/74Manipulators with manual electric input means
    • A61B2034/742Joysticks

Abstract

A mechanical interface for providing high bandwidth and low noise mechanical input and output for computer systems. A gimbal mechanism includes multiple members that are pivotably coupled to each other to provide two revolute degrees of freedom to a user manipulatable about a pivot point located remotely from the members at about an intersection of the axes of rotation of the members. A linear axis member, coupled to the user object, is coupled to at least one of the members, extends through the remote pivot point and is movable in the two rotary degrees of freedom and a third linear degree of freedom. Transducers associated with the provided degrees of freedom include sensors and actuators and provide an electromechanical interface between the object and a computer. Capstan band drive mechanisms transmit forces between the transducers and the object and include a capstan and flat bands, where the flat bands transmit motion and force between the capstan and interface members. Applications include simulations of medical procedures, e.g. epidural anesthesia, where the user object is a needle or other medical instrument, or other types of simulations or games.

Description

BACKGROUND OF THE INVENTION

The present invention relates generally to mechanical interface devices between humans and computers, and more particularly to mechanical devices for tracking manual manipulations and providing simulated force feedback.

Virtual reality computer systems provide users with the illusion that they are part of a "virtual" environment. A virtual reality system will typically include a computer processor, such as a personal computer or workstation, specialized virtual reality software, and virtual reality I/O devices such as display screens, head mounted displays, sensor gloves, etc. As virtual reality systems become more powerful and as the number of potential applications increases, there is a growing need for specific human/computer interface devices which allow users to interface with computer simulations with tools that realistically emulate the activities being represented within the virtual simulation.

One common use for virtual reality computer systems is for training. In many fields, such as aviation and vehicle and systems operation, virtual reality systems have been used successfully to allow a user to learn from and experience a realistic "virtual" environment. The appeal of using virtual reality computer systems for training relates, in part, to the ability of such systems to allow trainees the luxury of confidently operating in a highly realistic environment and making mistakes without "real world" consequences. One highly applicable field for the use of virtual training system is medical operations and procedures. A virtual reality computer system can allow a doctor-trainee or other human operator or user to "manipulate" a needle, scalpel or probe within a computer-simulated "body", and thereby perform medical procedures on a virtual patient. In this instance, the I/O device which is typically a 3D pointer, stylus, or the like is used to represent a surgical instrument such as a probe or scalpel. As the "probe" or "scalpel" moves within a provided space or structure, results of such movement are updated and displayed in a body image displayed on a screen of the computer system so that the operator can gain the experience of performing such a procedure without practicing on an actual human being or a cadaver.

Other uses for virtual reality computer systems include entertainment. Sophisticated simulations and video games allow a user to experience virtual environments with high degrees of realism, thus providing highly interactive and immersive experiences for the user.

For virtual reality systems to provide a realistic (and therefore effective) experience for the user, sensory feedback and manual interaction should be as natural and complete as possible. One essential sensory component for many experiences is the "haptic" and tactile senses. The haptic sense is typically related to the sense of touch not associated with tactility, such as the forces sensed when pushing or pulling on an object. The tactile sense is more concerned with the texture and feel of a surface or object.

Medical operations and procedures using such medical instruments as catheters, laparoscopes, and needles have a distinct haptic component that is essential to performing the procedures correctly and effectively. For example, epidural anesthesia is a highly delicate procedure performed by anesthesiologists in operations. In this procedure, a four inch needle is directed between two vertebrae in the lower back of the patient, through extremely dense tissue, and into an epidural space no larger than 1/20th of an inch. Overshooting the epidural space may result in a "wet tap" puncturing the dura mater, resulting in severe spinal headaches for the patient, or, in extreme cases, damage to the spinal cord.

This insertion is accomplished only through the sense of feel, i.e., the haptic sense. The vast majority of physicians use a technique known as the "loss of resistance" method. The fluid in the syringe (typically a saline solution or simply air) is retarded by the dense ligaments as the needle is inserted. The administrator will feel a slight "pop" as the ligamentum flavum (the layer positioned just before the epidural space) is punctured, due to a slight pressure drop from entering the epidural space. The contents of the syringe then flow freely into the epidural space, gently expanding the separation of the two tissue layers. A catheter can subsequently be fed through the center of the epidural needle so that an anesthetic can be metered through an IV.

Currently there is no practical and effective training tool to assist trainees in developing proficiency in the administration of epidural anesthesia and like medical procedures. Mannequins and cadavers often do not meet many of the needs of trainees for such precise manipulations. Thus, a highly accurate virtual reality system would be ideal for this and other types of applications, especially a "high bandwidth" interface system, which is an interface that accurately responds to electronic signals having fast changes and a broad range of frequencies as well as mechanically transmitting such signals accurately to a user.

There are number of devices that are commercially available for interfacing a human with a computer for virtual reality simulations. Some of these devices provide "force feedback" to a user, i.e., the user interface device outputs forces through the use of computer-controlled actuators and sensors to allow the user to experience haptic sensations. However, none of these devices is tailored for such precise operations as epidural anesthesia. For example, in typical multi-degree of freedom apparatuses that include force feedback, there are several disadvantages. Since actuators which supply realistic force feedback tend to be large and heavy, they often provide inertial constraints. There is also the problem of coupled actuators. In a typical force feedback device, a serial chain of links and actuators is implemented to achieve multiple degrees of freedom for a desired object positioned at the end of the chain, i.e., each actuator is coupled to the previous actuator. The user who manipulates the object must carry the inertia of all of the subsequent actuators and links except for the first actuator in the chain, which is grounded. While it is possible to ground all of the actuators in a serial chain by using a complex transmission of cables or belts, the end result is a low stiffness, high friction, high damping transmission which corrupts the bandwidth of the system, providing the user with an unresponsive and inaccurate interface. These types of interfaces also introduce tactile "noise" to the user through friction and compliance in signal transmission and limit the degree of sensitivity conveyed to the user through the actuators of the device.

Other existing devices provide force feedback to a user through the use of a glove or "exoskeleton" which is worn over the user's appendages, such as fingers, arms, or body. However, these systems are not easily applicable to simulation environments such as those needed for medical procedures or simulations of vehicles and the like, since the forces applied to the user are with reference to the body of the user, not to a manipulated instrument or control, and the absolute location of the user's appendages or a manipulated instrument are not easily calculated. Furthermore, these devices tend to be complex mechanisms in which many actuators must be used to provide force feedback to the user.

In addition, existing force feedback devices are typically bulky and require that at least a portion of the force feedback mechanism extend into the workspace of the manipulated medical instrument. For example, in simulated medical procedures, a portion of the mechanism typically extends past the point where the skin surface of the virtual patient is to be simulated and into the workspace of the manipulated instrument. This can cause natural actions during the medical procedure, such as placing one's free hand on the skin surface when inserting a needle, to be strained, awkward, or impossible and thus reduces the realism of the simulation. In addition, the mechanism intrudes into the workspace of the instrument, reducing the workspace of the instrument and the effectiveness and realism of many force feedback simulations and video games. Furthermore, this undesired extension into the workspace often does not allow the force feedback mechanism to be easily housed in a protective casing and concealed from the user.

Furthermore, prior force feedback devices often employ low fidelity actuation transmission systems, such as gear drives. For higher fidelity, cable drive systems may be used. However, these systems require that a drive capstan be wrapped several times with a cable and that the cable be accurately tensioned, resulting in considerable assembly time of the force feedback device. There is also energy loss associated with the cable deflection as the capstan turns.

Therefore, a high fidelity human/computer interface tool which can provide force feedback in a constrained space to a manipulated object remote from the mechanism, and which can provide high bandwidth, accurate forces, is desirable for certain applications.

SUMMARY OF THE INVENTION

The present invention provides a mechanical interface apparatus and method which can provide highly realistic motion and force feedback to a user of the apparatus. The preferred apparatus includes a gimbal mechanism which provides degrees of freedom to a user manipulatable object about a remote pivot point such that the gimbal mechanism is entirely within a single hemisphere of a spherical workspace of the user object. In addition, a band drive mechanism provides mechanical advantage in applying force feedback to the user, smooth motion, and reduction of friction, compliance, and backlash of the system. The present invention is particularly well suited to simulations of medical procedures using specialized tools, as well as simulations of other activities, video games, etc.

Specifically, a mechanism of the present invention includes a gimbal mechanism for providing motion in two degrees of freedom. The gimal mechanism includes multiple members that are pivotably coupled to each other to provide two revolute degrees of freedom about a pivot point located remotely from the members. The pivot point is located at about an intersection of the axes of rotation of the members. A linear axis member is coupled to at least one of the members, extends through the pivot point and is movable in the two revolute degrees of freedom. The linear axis member preferably is or includes a user manipulatable object.

In a preferred embodiment, the gimbal mechanism includes five members forming a closed loop chain such that each of the five members is pivotably coupled to two other members of said five members. The multiple members of the gimbal mechanism are positioned exclusively within a hemisphere of a sphere defined by the workspace provided by the gimbal mechanism, i.e., on one side of a plane intersecting the remote pivot point, where the pivot point is at a center of the sphere. Preferably, the user manipulatable object is independently translatable with respect to the gimbal mechanism along a linear axis in a third degree of freedom through the pivot point, and at least a portion of the user object is positioned on the opposite side of the pivot point to the gimbal mechanism.

The gimbal mechanism interfaces the motion of the linear axis member in two degrees of freedom with a computer system. Transducers, including actuators and sensors, are coupled between members of the gimbal mechanism for an associated degree of freedom and are coupled to the computer system. The actuators provide a force on the linear axis member and the sensors sense the position of the linear axis member in the three degrees of freedom. Preferred user manipulatable objects include at least a portion of a medical instrument, such as a needle having a shaft and a syringe. A plunger actuator can be coupled to the needle for selectively providing a pressure to a plunger of the syringe and simulating ejected of a fluid through the needle. Alternatively, a spherical object or other type of object can be provided with the pivot point at about the object's center.

In another aspect of the present invention, the interface apparatus includes a band drive mechanism for transmitting forces from actuators to the user object and transmitting motion of the object to sensors. The band drive mechanism includes a capstan coupled to a rotating shaft of an actuator of the apparatus and to a member of the apparatus by a flat band. Force is applied to the member in at least one degree of freedom via the flat band when the shaft of the actuator is rotated. Preferably, a band drive mechanism is used for both rotary and linear degrees of freedom of the interface apparatus and transmits forces and motion with substantially no backlash. The flat band preferably includes two separate bands coupled between the capstan and the mechanism member.

In yet another aspect of the present invention, the interface apparatus is used in a computer simulation, such as a simulation of a medical procedure where the user-manipulable object is a medical instrument. The computer system determines the position of the user manipulatable object in at least one degree of freedom from sensors. A physical property profile is then selected. The profile includes a number of predetermined values, such as material stiffness, density, and texture, and the selection of the particular values of the profile is based on a position of the user object. Finally, a force on the user object is output based on a value in the selected profile using actuators coupled to the interface apparatus. Preferably, forces are also output from the actuators to compensate for the gravitational force resulting from the weight of the actuators and to allow the user object to be manipulated free from gravitational force. The profile is selected from multiple available profiles and is also dependent on a direction and trajectory of movement of the user object. In a described embodiment, the medical simulation is an epidural anesthesia simulation, and the user object includes a needle having a syringe. For example, one of the selected profiles can be to provide forces simulating the needle encountering a bone within tissue.

The interface apparatus of the present invention provides a unique gimbal mechanism having a remote pivot point that allows a user manipulatable object to be positioned on one side of the pivot point and the gimbal mechanism entirely on the other side of the pivot point. This provides a greater workspace for the user object and allows the mechanism to be protected and concealed. In other embodiments, the remote pivot point allows the user object to be rotated about the center of the object while advantageously allowing the user to completely grasp the object. Furthermore, the present invention includes easy-to-assemble band drive mechanisms that provide very low friction and backlash and high bandwidth forces to the user object, and are thus quite suitable for high precision simulations such as medical procedures. The structure of the apparatus permits transducers to be positioned such that their inertial contribution to the system is very low, thus enhancing the haptic response of the apparatus even further. Finally, a simulation process allows for realistic simulation of precise procedures such as epidural anesthesia. These advantages allow a computer system to have more complete and realistic control over force feedback sensations experienced by a user of the apparatus.

These and other advantages of the present invention will become apparent to those skilled in the art upon a reading of the following specification of the invention and a study of the several Figures of the drawing.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of a virtual reality system which employs an apparatus of the present invention to interface a needle with a computer system in a medical simulation;

FIGS. 2a and 2b are diagrammatic views of a mechanical apparatus of the present invention for providing mechanical input and output to a computer system;

FIG. 3 is a perspective view of a preferred embodiment of the mechanical apparatus of FIG. 2;

FIGS. 4a and 4b are side elevation and top plan views, respectively, of the mechanical apparatus of FIG. 3;

FIGS. 5a, 5b and 5c are detailed views of a capstan band drive mechanism used in the present invention;

FIGS. 6a and 6b are perspective views of a capstan band drive mechanism for a linear axis member of the mechanical apparatus of FIG. 3;

FIG. 7 is a block diagram of a computer and the interface between the computer and the mechanical apparatus of FIGS. 2 and 3;

FIG. 8 a flow diagram illustrating a process of simulating an epidural anesthesia procedure using the mechanical apparatus of the present invention;

FIG. 8a is a side view of the user object and linear axis member illustrating the gravity compensation of the present invention;

FIGS. 8b and 8c are graphs showing the force output on the needle of the apparatus of the present invention according to physical property profiles;

FIG. 9 is a diagrammatic view of an alternate embodiment of the gimbal apparatus of FIG. 2a including a spherical user manipulatable object; and

FIG. 9a is a diagrammatic view of an alternate embodiment of the mechanical apparatus and user manipulatable object of FIG. 9.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

In FIG. 1, a virtual reality system 10 used to simulate a medical procedure includes a human/computer interface apparatus 12, an electronic interface 14, and a computer 16. The illustrated virtual reality system 10 is directed to a virtual reality simulation of a needle insertion procedure. An example of control software used in the simulation is provided in Appendix A. Suitable software drivers which interface such simulation software with computer input/output (I/O) devices are available from Immersion Human Interface Corporation of San Jose, Calif.

A needle/syringe tool (or "needle") 18 used in conjunction with one embodiment of the present invention is manipulated by an operator and, optionally, virtual reality images (and/or instructions or procedure information) may optionally be displayed on a screen 20 of the computer in response to such manipulations (or on a 3-D goggle display worn by the operator). Preferably, the computer 16 is a personal computer or workstation, such as an IBM-PC AT or Macintosh personal computer, or a SUN or Silicon Graphics workstation. Most commonly, the computer operates under the MS-DOS operating system in conformance with an IBM PC AT standard.

The needle 18 includes a syringe portion 26 and a shaft or needle portion 28. The syringe portion 26 is provided to hold a fluid and flow the fluid through the hollow shaft portion 28 when the operator moves plunger 27 through syringe housing 29. In one embodiment, the present invention is concerned with tracking the movement of the shaft portion 28 in three-dimensional space, where the shaft portion 28 has three (or more) free degrees of motion. Namely, the needle 18 can be preferably moved in a linear degree of freedom to simulate insertion of the needle in a patient, and can also preferably be rotated or pivoted in two degrees of freedom. This is a good simulation of the real use of a needle 18 in that a needle may be inserted and then removed, pivoted, and inserted again.

The human/interface apparatus 12 as exemplified herein is used to simulate a epidural anesthesia medical procedure. In such a procedure, an operator directs a needle between two vertebrae in the lower back of a patient, through extremely dense tissue, and into an epidural space no larger than 1/20th of an inch. Thus, in addition to the needle 18, the human/interface apparatus 12 may include a barrier 22 or other obstruction. The barrier 22 is used to represent a portion of the skin covering the body of a patient and is used to provide greater realism to the operator. For example, when inserting a needle 18 into a patient, it is natural for doctors to place the hand not handling the needle on the skin of the patient when inserting the needle to provide stability during the procedure. Barrier 22 allows trainees to simulate these types of natural actions. The shaft portion 28 is inserted into the "body" of the virtual patient at a point 20, which can simulate the area of the back covering the spine in an epidural anesthesia procedure, or other areas of a body in other medical procedures. Barrier 22 can be omitted from apparatus 12 in other embodiments.

A mechanical interface apparatus 25 for interfacing mechanical input and output is shown within the "body" of the patient in phantom lines. The shaft portion 28 extends to mechanical apparatus 25, which provides the mechanical support, degrees of freedom, and force simulation for needle 18 that realistically simulates an epidural anesthesia or other procedure. For example, the needle 18 can preferably move in a linear degree of freedom to simulate inserting the needle in the skin, and can also preferbly pivot such that the angular position of the needle with respect to the skin surface can be changed if the needle is inserted at an incorrect angle for a successful operation. In addition, mechanical apparatus 25 is preferably positioned entirely behind barrier 22 to allow the greatest realism in the simulation. Needle 18 or other instrument preferably can pivot about the insertion point 20, where the point 20 is not touching any physical mechanism of apparatus 25.

Furthermore, since the insertion and manipulation of the anesthesia needle is accomplished mainly through the sense of feel, the forces provided on tool 18 should be highly accurate and realistic to properly train anesthesiologists. For example, in epidural anesthesia procedures, the vast majority of physicians use a technique known as the "loss of resistance" method. The fluid in the syringe (typically a saline solution or air) is retarded by the dense ligaments as the needle is inserted. The administrator then feels a slight "pop" as the ligamentum flavum, the layer positioned just before the epidural space, is punctured due to a slight pressure drop in the epidural space. The contents of the syringe then flow freely, gently expanding the separation of the two tissue layers. Such a procedure is highly dependent on the haptic sense of the operator and thus a simulation requires realistic motion and precise applied forces. Mechanical apparatus 25 includes these desired features and is described in greater detail below.

While one embodiment of the present invention will be discussed with reference to the needle 18, it will be appreciated that a great number of other types of objects can be used with the method and apparatus of the present invention. In fact, the present invention can be used with any physical object where it is desirable to provide a human/computer interface with one or more degrees of freedom. For example, in other simulated medical procedures, such medical tools as laparoscopes, catheters, other endoscopic surgical tools, or portions thereof, may be provided as tool 18. The shaft portion 28 can be part of the standard medical tool, or can be added as a linear member to operate in conjunction with apparatus 25. In other embodiments, the end of the shaft of the tool (such as any cutting edges) can be removed, since the end is not required for the virtual reality simulation, and is removed to prevent any potential damage to persons or property. In yet other embodiments, objects such as styluses, joysticks, screwdrivers, pool cues, wires, fiber optic bundles, mice, steering wheels, etc., can be used in place of tool 18 for different virtual reality, video game, and/or simulation applications. Another example of a user manipulatable object in use with the present invention is described with reference to FIG. 9.

The electronic interface 14 is a component of the human/computer interface apparatus 12 and couples the apparatus 12 to the computer 16. More particularly, interface 14 is used in preferred embodiments to couple the various actuators and sensors contained in apparatus 12 (which actuators and sensors are described in detail below) to computer 16. A suitable interface 14 is described in detail with reference to FIG. 7.

The electronic interface 14 is coupled to mechanical apparatus 25 of the apparatus 12 by a cable 30 and is coupled to the computer 16 by a cable 32. In other embodiments, signal can be sent to and from interface 14 and computer 16 by wireless transmission and reception. In some embodiments of the present invention, interface 14 serves solely as an input device for the computer 16. In other embodiments of the present invention, interface 14 serves solely as an output device for the computer 16. In preferred embodiments of the present invention, the interface 14 serves as an input/output (I/O) device for the computer 16. Electronic interface 14 can be provided in a separate box or housing as shown in FIG. 1, or can be included within mechanical apparatus 25 or within computer 16.

In FIG. 2a, a schematic diagram of mechanical apparatus 25 for providing mechanical input and output in accordance with the present invention is shown. Apparatus 25 includes a gimbal mechanism 38 and a linear axis member 40. A user object 44 is preferably coupled to linear axis member 40.

Gimbal mechanism 38, in the described embodiment, is a "spherical mechanism" that provides support for apparatus 25 on a grounded surface 56 (schematically shown as part of ground member 46). Gimbal mechanism 38 is preferably a five-member, closed loop linkage that includes a ground member 46, extension members 48a and 48b, and central members 50a and 50b. Ground member 46 is coupled to a base or surface which provides stability for apparatus 25. Ground member 46 is shown in FIG. 2 as two separate members coupled together through grounded surface 56. The members of gimbal mechanism 38 are rotatably coupled to one another through the use of bearings or pivots, wherein extension member 48a is rotatably coupled to ground member 46 by bearing 43a and can rotate about an axis A, central member 50a is rotatably coupled to extension member 48a by bearing 45a and can rotate about a floating axis D, extension member 48b is rotatably coupled to ground member 46 by bearing 43b and can rotate about axis B, central member 50b is rotatably coupled to extension member 48b by bearing 45b and can rotate about floating axis E, and central member 50a is rotatably coupled to central member 50b by bearing 47 at a center point P at the intersection of axes D and E. Preferably, central member 50a is coupled to one rotatable portion 47a of bearing 47, and central member 50b is coupled to the other rotatable portion 47b of bearing 47. The axes D and E are "floating" in the sense that they are not fixed in one position as are axes A and B.

Gimbal mechanism 38 is formed as a five member closed chain. Each end of one member is coupled to the end of another member. The five-member linkage is arranged such that extension member 48a, central member 50a, and central member 50b move when extension member 48a is rotated about axis A in a first degree of freedom. The linkage is also arranged such that extension member 48b, central member 50b, and central member 50a move when extension member 48b is rotated about axis B in a second degree of freedom. The axes of rotation are arranged such that they intersect about at a remote pivot point P, which is the center of the "sphere" defined by the gimbal mechanism 38. Pivot point P is "remote" in the sense that it is not positioned at (or touching) any member or coupling of the gimbal mechanism 38, but is positioned in free space away from the mechanism 38 and in another "hemisphere", as explained below. Object 44 can be pivoted or rotated about pivot point P in two degrees of freedom. Extension members 48a and 48b are angled at points 49 as shown in FIG. 2a to allow pivot point P to be positioned remotely from the gimbal mechanism. In the described embodiment, the angles α are about 100 degrees, but can vary depending on how large a sphere is desired.

Linear axis member 40 is preferably an elongated rod-like member which is coupled to central member 50a and/or central member 50b and extends approximately through the remote pivot point P. As shown in FIG. 1, linear axis member 40 can be used as shaft 28 of user object 44 or 18. In other embodiments, linear axis member 40 is coupled to a separate object 44. Linear axis member 40 is coupled to gimbal mechanism 38 such that it extends out of the plane defined by axis A and axis B. Linear axis member 40 can be rotated about axis A by rotating extension member 48a, central member 50a, and central member 50b in a first revolute degree of freedom, shown as arrow line 51. Member 40 can also be rotated about axis B by rotating extension member 50b and the two central members about axis B in a second revolute degree of freedom, shown by arrow line 52. Being also translatably coupled to the ends of central member 50a and/or 50b, linear axis member 40 can be linearly translated, independently with respect to gimbal mechanism 38, along floating axis C, providing a third degree of freedom as shown by arrows 53. Axis C is rotated about the remote pivot point P as member 40 is rotated about this point. Optionally, a fourth degree of freedom can be provided to object 44 as rotation about axis C, i.e., a "spin" degree of freedom.

When object 44 is positioned at the "origin" as shown in FIG. 2a, an angle θ between the central members 50a and 50b is about 60 degrees in the described embodiment. When object 44 is rotated about one or both axes A and B, central members 50a and 50b move in two fashions: rotation about axis D or E by bearing 45b and/or 45a, and rotation about axis C by bearing 47 such that angle θ changes. For example, if the object 44 is moved toward the couplings 45a or 45b, then the angle θ will decrease. If the object is moved toward couplings 43a and 43b, the angle θ will increase.

Also preferably coupled to gimbal mechanism 38 and linear axis member 40 are transducers, such as sensors and actuators. Such transducers are preferably coupled at the couplings or link points between members of the apparatus and provide input to and output from an electrical system, such as computer 16. Transducers that can be used with the present invention are described in greater detail with respect to FIG. 3.

User object 44 is coupled to apparatus 25 and is preferably an interface object for a user to grasp or otherwise manipulate in three dimensional (3D) space. One preferred user object 44 is a needle 18, as shown in FIG. 1. Shaft 28 of needle 18 can be implemented as part of linear axis member 40. Needle 18 may be moved in all three degrees of freedom provided by gimbal mechanism 38 and linear axis member 40. As user object 44 is rotated about pivot point P and axis A, floating axis D varies its position, and as user object 44 is rotated about point P and axis B, floating axis E varies its position. Other types of user objects 44 can also be provided for use with mechanical apparatus 25 as described above. Other embodiments for an interface apparatus are found in co-pending U.S. Pat. No. 5,731,804 filed Jan. 18, 1995, assigned to the assignee of the present invention and incorporated herein by reference in its entirety.

Thus, the mechanical apparatus 25 fulfills the needs of an epidural anesthesia simulator by providing three degrees of freedom to user object 44: one degree of freedom for linear translation of user object along axis C to simulate needle insertion, and two degrees of freedom for angular positioning of user object about axes A and B to simulate needle orientation. For example, after a needle is inserted in the virtual patient, the operator may determine that the needle has been inserted incorrectly. The needle should then be withdrawn and repositioned by pivoting the needle as allowed by the gimbal mechanism 38. Such degrees of freedom are also useful in a variety of other applications, described subsequently. Importantly, gimbal mechanism 38 provides a remote pivot point P that is not touching any portion of the gimbal mechanism. This allows, for example, the mechanism 25 to be entirely placed behind a barrier 22 as shown in FIG. 1.

FIG. 2b is a schematic drawing of a side view of the mechanical apparatus 25 of FIG. 2a In FIG. 2b, linear axis member 40 is shown movable along axis C. Remote pivot point P is located at the intersection of axes A, B, D, and E of the gimbal mechanism. The closed-loop five-member gimbal mechanism 38 is a "spherical mechanism", which, as described herein, is a mechanism that provides two rotational degrees of freedom to the user object 44 and a spherical workspace and in which the axes of rotation of the mechanism pass through the center of the sphere defined by the spherical workspace, i.e., user object 44 can be moved to points in 3-D space that sweep a surface, or a portion of the surface, of a sphere. For gimbal mechanism 38, the center of the sphere is remote pivot point P. With the addition of a third linear degree of freedom, the gimbal mechanism allows the user object to trace a volume of a sphere rather than just a surface of a sphere.

Unlike typical spherical mechanisms used for user interface applications, gimbal mechanism 38 includes a remote pivot point P that does not touch any portion of the gimbal mechanism. Thus, it is possible to make gimbal mechanism 38 a "hemispherical mechanism", i.e., the gimbal mechanism 38 is positioned entirely within one hemisphere of the sphere. This is demonstrated by dashed line 60, which designates a line extending through the center of a sphere, which is at pivot point P. The entire gimbal mechanism 38 is on one side of line 60, while the user manipulable object 44 is on the other side of point P and line 60 (except, of course, shaft 28, which must connect the user object 44 with the mechanical apparatus 25). This allows user object 44 a full range of movement in its own hemisphere without being obstructed by any portions of the mechanical apparatus 25.

The hemispherical nature of gimbal mechanism 38 allows a realistic simulation apparatus to be provided. For example, a barrier 20 such as shown in FIG. 1 can be placed at or near the pivot point P so that the entire mechanical apparatus 25 is hidden from view and protected. This allows an operator to easily place a hand on the barrier to support the needle insertion without touching the gimbal mechanism. Also, since pivot point P of the shaft 28 of the needle is provided at the point of needle insertion, the needle can be pivoted without requiring a large opening in the barrier. The operation of the mechanism 25 can be completely obscured from the operator without hindering the motion of the user object 44, thus greatly adding to the realism of the simulated medical procedure.

The apparatus 25 can also be used for other applications besides the simulation of medical procedures such as epidural anesthesia. One application can be games or virtual reality (non-medical) simulations, where user object 44 can be a joystick or other object for manipulating 2- or 3-D environments. In addition, any apparatus that can make use of a gimbal mechanism that is contained within one side or hemisphere of the sphere or which can be fully enclosed behind a plane or surface is applicable to the present invention. One such apparatus might be a mechanism that is positioned below ground or under/behind a protective enclosure and which is used to direct a laser beam or projectile (e.g., a liquid projectile such as water from a water hose, or a solid projectile). For example, a laser may include a mechanical apparatus 25 that is positioned behind its pivot point P and can be used to digitize or project 3-D images using spherical coordinates of the gimbal mechanism. Alternatively, a real medical instrument can be attached to the gimbal mechanism for performing operations on live patients under computer computer or under remote control from a doctor using a master implement (e.g., the master implement can also be a gimbal mechanism of the present invention to allow teleoperation of the operating instrument).

FIG. 3 is a perspective view of a specific embodiment of a mechanical apparatus 25' for providing mechanical input and output to a computer system in accordance with the present invention. Apparatus 25' includes a gimbal mechanism 62, a linear axis member 64, and transducers 66. A user object 44, shown in this embodiment as a needle 18, is coupled to apparatus 25'. Apparatus 25' operates in substantially the same fashion as apparatus 25 described with reference to FIGS. 2a and 2b.

Gimbal mechanism 62 provides support for apparatus 25' on a grounded surface 56, such as a table top or similar surface. The members and joints ("bearings") of gimbal mechanism 62 are preferably made of a lightweight, rigid, stiff metal, such as aluminum, but can also be made of other rigid materials such as other metals, plastic, etc. Gimbal mechanism 62 includes a ground member 70, capstan band drive mechanisms 72, link members 74a and 74b, central members 76a and 76b. Ground member 62 includes a base member 78 and support members 80. Base member 78 is coupled to grounded surface 56. Support members 80 are coupled to base member 78 and are preferably angled as shown in FIGS. 3, 4a, and 4b.

A capstan band drive mechanism 72 is preferably coupled to each support member 62. Capstan band drive mechanisms 72 are included in gimbal mechanism 62 to provide mechanical advantage without introducing friction and backlash to the system. A drum 82 of each band drive mechanism is rotatably coupled to a corresponding support member 80 to form axes of rotation A and B, which correspond to axes A and B as shown in FIG. 1. The capstan band drive mechanisms 72 are described in greater detail with respect to FIGS. 5a and 5b.

Link member 74a is rigidly coupled to capstan drum 82a and is rotated about axis A as drum 82a is rotated. Likewise, link member 74b is rigidly coupled to drum 82b and can be rotated about axis B. Thus, in apparatus 25', link member 74a and drum 82a together form the extension member 48a shown in FIG. 2a, and link member 74b and drum 82b together form the extension member 48b. Central member 76a is rotatably coupled to the other end of link member 74a. Similarly, central member 76b is rotatably coupled to the end of link member 74b. Central members 76a and 76b are rotatably coupled to each other at their other ends at a bearing 84, through which axis C preferably extends. A floating axis of rotation D is located at the coupling of link member 74a and central member 76a, and a floating axis of rotation E is located at the coupling of link member 74b and central member 76b. A pivot point P is provided at the intersection of axes A, B, D, and E.

Gimbal mechanism 62 provides two degrees of freedom to an object positioned at or coupled to the remote pivot point P. An object 44 can be rotated point P in the degrees of freedom about axis A and B or have a combination of rotational movement about these axes. As explained above, point P is located remote from gimbal mechanism 62 such that point P does not touch any portion of the gimbal mechanism 62.

Linear axis member 64 is a member that is preferably coupled to central member 76b. Alternatively, member 64 can be coupled to central member 76a Member 64 extends through a open aperture in the center of bearing 84 and through apertures in the ends of central members 76a and 76b. The linear axis member can be linearly translated along axis C, providing a third degree of freedom to user object 44 coupled to the linear axis member. Linear axis member 64 (or a portion thereof) can preferably be translated by a transducer 66c using a capstan band drive mechanism. The translation of linear axis member 64 is described in greater detail with respect to FIGS. 6a-6b.

Transducers 66a, 66b, and 66c are preferably coupled to gimbal mechanism 62 to provide input and output signals between mechanical apparatus 25' and computer 16. In the described embodiment, transducer 66a includes a grounded actuator 86a and a sensor 87a, transducer 66b includes a grounded actuator 86b and a sensor 87b, and central transducer 66c includes an actuator 86c and a sensor 87c. The housing of grounded transducer 66a is preferably coupled to a support member 80 and preferably includes both an actuator for providing force or resistance in the first revolute degree of freedom about point P and axis A and a sensor for measuring the position of object 44 in the first degree of freedom about point P and axis A, i.e., the transducer 66a is "associated with" or "related to" the first degree of freedom. A rotational shaft of actuator 66a is coupled to a spindle of capstan band drive mechanism 72 to transmit input and output along the first degree of freedom. The capstan band drive mechanism 72 is described in greater detail with respect to FIG. 5a-5c. Grounded transducer 66b preferably corresponds to grounded transducer 66a in function and operation. Transducer 66b is coupled to the other support member 80 and is an actuator/sensor which influences or is influenced by the second revolute degree of freedom about point P and axis B.

Sensors 87a, 87b, and 87c are preferably relative optical encoders which provide signals to measure the angular rotation of a shaft of the transducer. The electrical outputs of the encoders are routed to computer interface 14 by buses (not shown) and are detailed with reference to FIG. 7. For example, 500 count encoders such as the HP-HEDS-5500-A02 from Hewlett-Packard can be used, or other encoders having higher resolution. Other types of sensors can also be used, such as potentiometers, etc. In addition, it is also possible to use non-contact sensors at different positions relative to mechanical apparatus 25. For example, a Polhemus (magnetic) sensor can detect magnetic fields from objects; or, an optical sensor such as lateral effect photo diode includes a emitter/detector pair that detects positions of the emitter with respect to the detector in one or more degrees of freedom. These types of sensors are able to detect the position of object 44 in particular degrees of freedom without having to be coupled to a joint of the mechanical apparatus. Alternatively, sensors can be positioned at other locations of relative motion or joints of mechanical apparatus 25'.

It should be noted that the present invention can utilize both absolute and relative sensors. An absolute sensor is one which the angle of the sensor is known in absolute terms, such as with an analog potentiometer. Relative sensors only provide relative angle information, and thus require some form of calibration step which provide a reference position for the relative angle information. The sensors described herein are primarily relative sensors. In consequence, there is an implied calibration step after system power-up wherein the sensor's shaft is placed in a known position within the apparatus 25' and a calibration signal is provided to the system to provide the reference position mentioned above. All angles provided by the sensors are thereafter relative to that reference position. Such calibration methods are well known to those skilled in the art and, therefore, will not be discussed in any great detail herein.

The actuators 86a, 86b, and 86c of transducers 66 can be of two types: active actuators and passive actuators. Active actuators include linear current control motors, stepper motors, pneumatic/hydraulic active actuators, and other types of actuators that transmit a force to move an object. For example, active actuators can drive a rotational shaft about an axis in a rotary degree of freedom, or drive a linear shaft along a linear degree of freedom. Active transducers of the present invention are preferably bi-directional, meaning they can selectively transmit force along either direction of a degree of freedom. For example, DC servo motors can receive force control signals to control the direction and torque (force output) that is produced on a shaft. In the described embodiment, active linear current control motors, such as DC servo motors, are used. The control signals for the motor are produced by computer interface 14 on control buses (not shown) and are detailed with respect to FIG. 7. The motors may include brakes which allow the rotation of the shaft to be halted in a short span of time. Also, the sensors and actuators in transducers 66 can be included together as sensor/actuator pair transducers. A suitable transducer for the present invention including both an optical encoder and current controlled motor is a 20 W basket wound servo motor manufactured by Maxon. In other embodiments, all or some of transducers 66 can include only sensors to provide an apparatus without force feedback along designated degrees of freedom.

In alternate embodiments, other types of motors can be used, such as a stepper motor controlled with pulse width modulation of an applied voltage, pneumatic motors, brushless DC motors, pneumatic/hydraulic actuators, a torquer (motor with limited angular range), or a voice coil. Stepper motors and the like are not as well suited because stepper motor control involves the use of steps or pulses which can be felt as pulsations by the user, thus corrupting the virtual simulation. The present invention is better suited to the use of linear current controlled motors, which do not have this noise.

Passive actuators can also be used for actuators 86a, 86b, and 86c. Magnetic particle brakes, friction brakes, or pneumatic/hydraulic passive actuators can be used in addition to or instead of a motor to generate a passive resistance or friction in a degree of motion. However, active actuators are often preferred for simulations of medical procedures, since the force of tissue on a medical instrument can often cause a "springy" feel which cannot be simulated by passive actuators. In addition, passive actuators also cannot provide gravity compensation (as described below), inertial compensation, and/or frictional compensation forces. Although an alternate embodiment only including passive actuators may not be as realistic as an embodiment including motors, the passive actuators are typically safer for a user since the user does not have to fight generated forces. Passive actuators typically can only provide bi-directional resistance to a degree of motion. A suitable magnetic particle brake for interface device 14 is available from Force Limited, Inc. of Santa Monica, Calif.

Central transducer 66c is coupled to central link member 76b and preferably includes an actuator 86c for providing force in the linear third degree of freedom along axis C and a sensor 87c for measuring the position of object 44 along the third linear degree of freedom. The shaft of central transducer 88 is coupled to a translation interface coupled to central member 76b which is described in greater detail with respect to FIGS. 6a-6b. In the described embodiment, central transducer 66c is an optical encoder and DC servo motor combination similar to the transducers 66a and 66b described above. In an alternate embodiment, transducer 66c can be coupled to ground 56 using, for example, a flexible transmission system such as a shaft or belt between a drive spindle 92 (shown in FIG. 5a) and the transducer 66c. Such an embodiment is advantageous in that the weight of transducer 66c is not carried by the user when manipulating object 44.

The transducers 66a and 66b of the described embodiment are advantageously positioned to provide a very low amount of inertia to the user handling object 44. Transducer 66a and transducer 66b are decoupled, meaning that the transducers are both directly coupled through supports 80 to ground member 70, which is coupled to ground surface 56, i.e., the ground surface carries the weight of the transducers, not the user handling object 44. The weights and inertia of the transducers 66a and 66b are thus substantially negligible to a user handling and moving object 44. This provides a more realistic interface to a virtual reality system, since the computer can control the transducers to provide substantially all of the forces felt by the user in these degrees of motion. Apparatus 25' is a high bandwidth force feedback system, meaning that high mechanical stiffness is provided for realistic forces and that high frequency signals can be used to control transducers 66 and these high frequency signals will be applied to the user object with high precision, accuracy, and dependability. The user feels very little compliance or "mushiness" when handling object 44 due to the high bandwidth. In contrast, in many prior art arrangements of multi-degree of freedom interfaces, one actuator "rides" upon another actuator in a serial chain of links and actuators. This low bandwidth arrangement causes the user to feel the inertia of coupled actuators when manipulating an object.

In other embodiments, the linear axis member can include additional sensors and/or actuators for measuring the position of and providing forces to object 44 in additional degrees of freedom. For example, a shaft transducer can be positioned on linear axis member 64 to measure the rotational position of object 44 about axis C in a fourth "spin" degree of freedom. The transducer can be an optical encoder as described above. For typical medical procedures, which is one intended application for the embodiment shown in FIGS. 3 and 4, rotational force feedback to a user about axis C is typically not required to simulate actual operating conditions. However, in alternate embodiments, an actuator such as a motor can be included in such a shaft transducer similar to transducers 86a, 86b, and 88 to provide forces on object 44 in the fourth degree of freedom.

Object 44 is shown in FIG. 3 as a needle 18 as shown in FIG. 1. Shaft portion 28 is coupled to and included as linear axis member 64. An adapter can be provided to engage the shaft 28 with the linear axis member 64 of the mechanism. A user can rotate the needle 18 about point P on axes A and B, and can translate the needle along axis C through point P. The movements in the three degrees of freedom will be sensed and tracked by computer system 16. Forces can be applied preferably in the three degrees of freedom by the computer system to simulate the tool impacting a portion of the subject body, experiencing resistance moving through tissues, etc. Optionally, a user also can spin needle 18 about axis C in a fourth degree of freedom.

FIG. 3 also shows a plunger actuation mechanism 88 for providing forces on plunger 27 of needle 18. In the described embodiment, an additional actuator 89 is coupled to a needle mount 91 on linear axis member 64 by a hose 93. Preferably, actuator 89 is a binary solenoid valve that either allows a fluid (e.g., a liquid or gas) to flow (when open) or blocks the flow of fluid (when closed). For example, a clippard minimatic ET-2-12 valve is suitable. The valve 89 is coupled to computer 16 by a bus and may be opened or closed by the computer 16. A passage is provided from the interior of needle 18, through shaft 28, through needle mount 91, and through hose 93. Thus, the computer can open or close valve 89 to allow a fluid to flow to release pressure on the plunger 27 or to block fluid flow and provide a feeling of pressure on the plunger 27. The binary valve allows the apparatus 25' to simulate the condition of pressure on plunger 27 in an epidural anesthesia procedure, where the pressure is typically close to being either "on" (before the space where fluid is injected is reached) or "off" (when the needle has reached the space to inject fluid). A reservoir (not shown) can be added to the valve to handle liquid flow. In alternate embodiments, a valve allowing variable control of fluid flow can be provided. In other embodiments, an active actuator can be coupled to needle 18 to actively simulate the flow of a fluid through the needle, i.e., no fluid need actually be provided, since the actuator could provide forces that feel as if a liquid were present. For example, a linear actuator such as a linear voice coil can be used. In yet other embodiments, a sensor can be provided to track the position of the plunger 27 relative to the housing 29 and/or to detect when the user pushes or pulls on the plunger.

Optionally, additional transducers can be added to apparatus 25' to provide additional degrees of freedom for object 44. A laparoscopic tool and catheter is described in copending U.S. Pat. No. 5,623,582, filed Jul. 14, 1994, and Ser. No. 08/344,148, Atty docket no. IMMlP004, filed Nov. 23, 1994, both assigned to the assignee of the present invention and incorporated herein by reference in their entirety. In yet other embodiments, flexible members and/or couplings can be used in the embodiment of FIG. 2a or 3, as described in copending U.S. patent application Ser. No. 08/560,091, Atty. docket no. IMM1P013, filed Nov. 17, 1995, and hereby incorporated by reference herein.

In an alternate embodiment, the gimbal mechanism 62 can be omitted and a single linear degree of freedom along axis C can be provided for the user object 44. For example, in some epidural anesthesia simulations, the angular positioning of the needle 18 may not be needed, and only the insertion and retraction of the needle can be simulated. In such an embodiment, the linear axis member 64 and transducer 86c can be used to provide forces in the linear degree of freedom. (e.g., the chassis 124 of the linear axis member 64 can be mounted to ground and the needle 18 can be translated along the one degree of freedom allowed by slide 64).

FIGS. 4a and 4b are a front elevation view and a top plan view, respectively, of mechanical apparatus 25' of FIG. 3. In FIG. 4a, it is shown that axes A and E are aligned when viewing them from the front, as are axes B and D. In the top plan view of FIG. 4b, user object 44 (in this case needle 18) is shown coupled to linear axis member 64. Pivot point P is positioned remotely from mechanical apparatus 25' such that the apparatus 25' is positioned entirely on one side of the pivot point P and user object 44 is positioned on the other side of the pivot point as demonstrated by dashed line 90.

FIG. 5a is a perspective view of a capstan band drive mechanism 72 of the present invention shown in some detail. As an example, the drive mechanism 72 coupled to link member 74b is shown; the other capstan drive 72 coupled to link member 74a is substantially similar to the mechanism presented here. Capstan band drive mechanism 72 includes drum 82, spindle (or "capstan") 92, and stop 94. Drum 82 is preferably a wedge-shaped member having leg portion 96 and a curved portion 98. Other shapes of drum 82 can also be used. Leg portion 96 is pivotally coupled to support member 80 at axis B (or axis A for the other band drive mechanism 72). Curved portion 84 couples the two ends of leg portion 82 together and is preferably formed in an arc centered about axis B. Curved portion 84 is preferably positioned such that its bottom edge 86 is about 0.030 inches below spindle 92. Link member 74b is rigidly coupled to curved portion 98 such that when drum 82 is rotated about axis B, link member 74b is also rotated.

Spindle 92 is a cylindrically-shaped roller rigidly coupled to a shaft of actuator 86b that is used to transfer torque to and from actuator 86b. In a preferred embodiment, spindle 92 is about 0.75" in diameter, but can be other sizes in other embodiments. Bands 100a and 100b are preferably thin metal bands, made of materials such as stainless steel, and which are connected to spindle 92. For example, 1/4" wide and 0.0005" or 0.001" thick bands are suitable for the present invention. Band 100a is attached at a first end to spindle 92, is drawn tightly against the outer surface 102 of curved portion 98, and is coupled at its other end to a leg portion 96 by a fastener 104a. Likewise, band 100b is attached at a first end to spindle 92, offset from band 100a on the spindle. Band 100b is wrapped around spindle 92 in the opposite direction to band 100a, is drawn in the opposite direction to band 100a tightly against the outer surface 102 of curved portion 98, and is coupled at its other end to a leg portion 96 by a fastener 104b.

Spindle 92 is rotated by actuator 86b, and bands 100a and 100b transmit the rotational force from spindle 92 to the drum 82, causing drum 82 to rotate about axis B. As shown in FIG. 5b, band 100b is attached to spindle 92 at point 101, is wrapped around the spindle clockwise, and is extended along the surface of curved portion 98. Thus, when the spindle 92 is rotated in a counterclockwise direction by actuator 86a, then band 100b pulls on one side of drum 82, thus rotating the drum clockwise about axis B as shown by arrow 103. The bands 100a and 100b also transmit rotational position (e.g., when the user object is moved by the user) from drum 82 to the spindle 92 and thus to sensor 87b so that the position of the user object is sensed. The tension in bands 100a and 100b should be at a high enough level so that negligible backlash or play occurs between drum 82 and spindle 92. Preferably, the tension of bands 100a and 100b can be adjusted by pulling more (or less) band length through fastener 104 and 104b, as explained below in FIG. 5c.

Spindle 92 is a metal cylinder which transfers rotational force from actuator 86b to capstan drum 82 and from capstan drum 82 to sensor 87b. Spindle 92 is rotationally coupled to transducer 66b by a shaft (not shown), and the transducer is rigidly attached to support member 80. Rotational force (torque) is applied from actuator 86b to spindle 92 when the actuator rotates the shaft. The spindle, in turn, transmits the rotational force to bands 100a and 100b and thus forces capstan drum 82 to rotate in a direction about axis B. Link member 74b rotates with drum 82, thus causing force along the second degree of freedom for object 44. Note that spindle 92, capstan drum 82 and link member 74b will only physically rotate if the user is not applying the same amount or a greater amount of rotational force to object 44 in the opposite direction to cancel the rotational movement. In any event, the user will feel the rotational force along the second degree of freedom in object 44 as force feedback.

Stop 106 is rigidly coupled to support member 80 below curved portion 98 of capstan drum 82. Stop 106 is used to prevent capstan drum 82 from moving beyond a designated angular limit. Thus, drum 82 is constrained to movement within a range defined by the arc length between the ends of leg portion 96. This constrained movement, in turn, constrains the movement of object 44 in the first two degrees of freedom. In the described embodiment, stop 106 is a cylindrical member inserted into a threaded bore in support member 80 and is encased in a resilient material, such as rubber, to prevent impact damage with drum 82.

The capstan drive mechanism 72 provides a mechanical advantage to apparatus 25' so that the force output of the actuators can be increased. The ratio of the diameter of spindle 92 to the diameter of capstan drum 82 (i.e., double the distance from axis B to the edge 102 of capstan drum 82) dictates the amount of mechanical advantage, similar to a gear system. In the described embodiment, the ratio of drum to spindle is equal to 15:1, although other ratios can be used in other embodiments.

Similarly, when the user moves object 44 in the second degree of freedom, link member 74b rotates about axis B and rotates drum 82 about axis B as well. This movement causes bands 100a and 100b to move, which transmits the rotational force/position to spindle 92. Spindle 92 rotates and causes the shaft of actuator 86a to rotate, which is also coupled to sensor 87b. Sensor 87b thus can detect the direction and magnitude of the movement of drum 82. A similar process occurs along the first degree of freedom for the other band drive mechanism 72. As described above with respect to the actuators, the capstan band drive mechanism provides a mechanical advantage to amplify the sensor resolution by a ratio of drum 82 to spindle 92 (15:1 in the described embodiment).

In alternate embodiments, a single band can be used instead of two bands 100a and 100b. In such an embodiment, the single band would be attached at one fastener 104a, drawn along surface 102, wrapped around spindle 92, drawn along surface 102, and attached at fastener 104b.

In alternate embodiments, a capstan cable drive can be used, where a cable, cord, wire, etc. can provide the drive transmission from actuator to user object. This embodiment is described in greater detail in co-pending patent application 08/374,288. The cable 80 is wrapped around the spindle a number of times and is then again drawn tautly against outer surface 102. The second end of the cable is firmly attached to the other end of the curved portion near the opposite leg of leg portion 96.

Band drive mechanism 72 is advantageously used in the present invention to provide high bandwidth transmission of forces and mechanical advantage between transducers 66a and 66b and object 44 without introducing substantial compliance, friction, or backlash to the system. A capstan drive provides increased stiffness, so that forces are transmitted with negligible stretch and compression of the components. The amount of friction is also reduced with a band drive mechanism so that substantially "noiseless" tactile signals can be provided to the user. In addition, the amount of backlash contributed by a band drive is negligible. "Backlash" is the amount of play that occurs between two coupled rotating objects in a gear or pulley system. Gears other types of drive mechanisms could also be used in place of band drive mechanism 72 in alternate embodiments to transmit forces between transducer 66a and link member 74b. However, gears and the like typically introduce some backlash in the system. In addition, a user might be able to feel the interlocking and grinding of gear teeth during rotation of gears when manipulating object 44; the rotation in a band drive mechanism is much less noticeable.

The use of bands 10a and 100b in a force feedback interface mechanism provides higher performance than other drive transmission systems such as the cable drive described in co-pending patent application 08/374,288. Since each band 100a and 100b is attached to spindle 92, the tension of the bands does not need to be as high as in a system having one cable or band that stretches from fastener 104a to 104b. Thus, considerable assembly time is saved when using bands 100a and 100b rather than a cable. There is also energy loss associated with cable deflection as the capstan turns which is minimized in the band drives of the present invention.

When using a band drive system as described, the bands wrap around themselves on spindle 92, i.e., the spindle in effect grows in circumference. Band stretch is thus of possible concern; however, the stretch has been found to be well within the limits of the strain capabilities of the bands. In addition, there is a tendency for the drum 82 to spring back to the center of travel, where the band stretch is at its lowest. However, there are several ways to compensate for this spring effect. In the preferred embodiment, control software implemented by the computer 16 compensates for the stretch springiness by computing an equal and opposite force to the spring force based, for example, on a spring constant of the band or a value from a look up table. In other embodiments, the bands 100a and 100b can be wrapped diagonally on spindle 92 so that the bands never wrap around themselves. However, this requires a wider spindle and a less compact mechanism. Alternatively, a spring can be provided on spindle 92 to compensate for the stretch of the bands 101a and 100b.

FIG. 5c is a detail perspective view of band drive mechanism 72. Band 100b is shown routed on curved portion 98 of drum 82 between spindle 92 and fastener 104b. In the described embodiment, fastener 104b is a clamp which holds the end 110 of band 100b as controlled by tension. The tension between the clamp is controlled by tension screws 112. In addition, the fastener 104b can preferably be moved in either direction shown by arrow 116 to further tighten the band 100b. In the described embodiment, tension screws 114 can be adjusted to move the fastener in either direction as desired.

FIGS. 6a and 6b are perspective views of linear axis member 64 and central transducer 66c shown in some detail. In the described embodiment, linear axis member 64 is implemented as a moving slide in a linear bearing 120. Linear bearing 120 includes slide 122 and exterior chassis 124. In the described embodiment, linear bearing 120 is a ball slide bearing that allows slide 122 to linearly translate within chassis 124 with minimal friction. A suitable ball slide linear bearing is available from Detron Precision, Inc. Other types of linear bearings can be used in other embodiments, such as Rolamite bearings, crossed roller linear bearings, and recirculating ball linear bearings.

Central transducer 66c is coupled to the linear bearing 120 by a mount 126. Mount 126 is also coupled to one of the central members 74a or 74b to attach the linear axis member 64 to the gimbal mechanism 62. In the described embodiment, a capstan band drive mechanism 128 is used to transmit forces between transducer 66c and slide 122 along the linear third degree of freedom. A spindle 130 is coupled to the shafts of the actuator 86c and sensor 87c such that the spindle is positioned just above the slide 122, and is similar to spindle 92 of capstan band drive mechanism 72 shown in FIG. 5a. A band 132a is coupled at one end to spindle 130, is wrapped around the spindle, is routed along the ball slide 122, and is tightly secured at its other end to fastener 134a, which is coupled to the slide 122. Likewise, band 132b is coupled at one end to spindle 130 offset from band 132a, is wrapped around spindle 130 in the opposite direction to band 132a, is routed along the opposite direction to band 132a on the slide, and is secured at fastener 134b, which is coupled to the slide 122 (band 132b is better shown in FIG. 6b). The bands 132a and 132b and spindle 130 operate similarly to the band drive of FIG. 5a to provide a very smooth, low friction, high bandwidth force transmission system for precise movement of linear axis member 64 and accurate position measurement of the member 64. FIG. 6a shows the limit to the slide 122 movement at one end of the movement range, and FIG. 6b shows the limit of the slide movement at the other end of the range. Fasteners 134a and 134b are preferably clamps similar to the clamps described for FIG. 5a.

Using the capstan band drive mechanism 128, transducer 66c can translate linear axis member 64 (slide 122) along axis C when the spindle is rotated by the actuator 86c. Likewise, when linear axis member 64 is translated along axis C by the user manipulating the object 44, spindle 130 is rotated by bands 132a and 132b; this rotation is detected by the sensor 87c.

In other embodiments, other types of drive mechanisms can be used to transmit forces to linear axis member and receive positional information from member 64 along axis C. For example, a drive wheel made of a rubber-like material or other frictional material can be positioned on ball slide 122 to contact linear axis member 64 along the edge of the wheel and thus convert linear motion to rotary motion and vice-versa. The wheel can cause forces along member 64 from the friction between wheel and linear axis member. Such a drive wheel mechanism is disclosed in U.S. Pat. No. 5,623,582 as well as in U.S. patent application Ser. No. 08/344,148. The drive mechanism can also be implemented in other ways, as explained above, as explained above with respect to FIG. 5a.

In yet other embodiments, a fourth degree of freedom can be provided to object 44 by sensing and/or actuating spin of linear axis member 64 about axis C.

FIG. 7 is a block diagram a computer 16 and an interface circuit 150 used in interface 14 to send and receive signals from mechanical apparatus 25. The interface circuit includes an interface card 152, DAC 154, power amplifier circuit 156, and sensor interface 158. In this embodiment, the interface 14 between computer 16 and mechanical apparatus 25 as shown in FIG. 1 can be considered functionally equivalent to the interface circuits enclosed within the dashed line in FIG. 7. Other types of interfaces 14 can also be used. For example, an electronic interface is described in U.S. Pat. No. 5,576,727 filed Jun. 5, 1995, assigned to the assignee of the present invention and incorporated herein by reference in its entirety. The electronic interface described therein has six channels corresponding to the six degrees of freedom of a mechanical linkage.

Interface card 152 is preferably a card which can fit into an interface slot of computer 16. For example, if computer 16 is an IBM AT compatible computer, interface card 14 can be implemented as an ISA, VESA, PCI or other standard interface card which plugs into the motherboard of the computer, provides input and output ports connected to the main data bus of the computer, and may include memory, interface circuitry, and the like. In alternate embodiments, no interface card 152 need be used, and a direct interface bus can be provided from interface 14 and computer 16. For example, a serial interface such as RS-232, Universal Serial Bus (USB), or Firewire can be used to connect a serial port or parallel port of computer 16 to interface 14. Also, networking hardware and protocols, such as ethernet, can also be used.

Digital to analog converter (DAC) 154 is coupled to interface card 152 and receives a digital signal from computer 16. DAC 154 converts the digital signal to analog voltages which are then sent to power amplifier circuit 156. DAC circuits suitable for use with the present invention are described in U.S. Pat. No. 5,731,804, previously incorporated by reference. Power amplifier circuit 156 receives an analog low-power control voltage from DAC 154 and amplifies the voltage to control actuators of the mechanical apparatus 25. A suitable power amplifier circuit 156 is described in greater detail in U.S. Pat. No. 5,731,804. Sensor interface 158 receives and converts signals from sensors 162 to a form appropriate for computer 16, as described below.

Mechanical apparatus 25 is indicated by a dashed line in FIG. 7 and includes actuators 160, sensors 162, and mechanisms 62 and 64. Actuators 160 can one or more of a variety of types of actuators, such as the DC motors 86a, 86b, and 86c, passive actuators, valve 89, and any additional actuators for providing force feedback to a user manipulated object 44 coupled to mechanical apparatus 25. The computer 16 determines appropriately scaled digital values to send to the actuators. Actuators 160 receive the computer signal as an amplified analog control signal from power amplifier 156.

Sensors 162 are preferably digital sensors that provide signals to computer 16 relating the position of the user object 44 in 3D space. In the preferred embodiments described above, sensors 162 are relative optical encoders, which are electro-optical devices that respond to a shaft's rotation by producing two phase-related signals and outputting those signals to sensor interface 158. In the described embodiment, sensor interface circuit 158 is preferably a single chip that converts the two signals from each sensor into another pair of clock signals, which drive a bidirectional binary counter. The output of the binary counter is received by computer 16 as a binary number representing the angular position of the encoded shaft. Such circuits, or equivalent circuits, are well known to those skilled in the art; for example, the Quadrature Chip from Hewlett Packard, Calif. performs the functions described above.

Alternatively, analog sensors can be included instead of or in addition to digital sensors 162, such as potentiometers. Or, a strain gauge can be connected to the user object 44 to measure forces. Analog sensors 132 provide an analog signal representative of the position of the user object in a particular degree of motion. In such an embodiment, sensor interface 158 includes an analog to digital converter (ADC) 134 to convert the analog sensor signal to a digital signal that is received and interpreted by computer 16, as is well known to those skilled in the art.

Mechanisms 62 and 64 interface the movement and forces between the user object 44 and the sensors and actuators. From the mechanical movement of the mechanisms 62 and 64, the computer 16 receives inputs in φ(t) (linear axis), ψ(t) and i(t) (rotational axes). Using the mechanical movement of the mechanisms 62 and 64, computer 16 outputs forces on the user object in these same degrees of freedom.

Other input devices can also be included on user object 44 or on mechanical apparatus 25 to allow the user to input additional commands. For example, buttons, levers, dials, etc. can input signals to interface 14 to inform the computer 16 when these input devices have been activated by the user.

In other embodiments, the interface 14 can be included in computer 16 or in mechanical apparatus 25. In yet other embodiments, the interface 14 can include a separate, local microprocessor that is dedicated to handling much of the force feedback functionality of the mechanical apparatus 25 independently of computer 16. Such an embodiment, and other related interface functions, are described in greater detail with respect to co-pending patent application 08/566,282, Atty docket no. IMMIP014, hereby incorporated by reference herein.

FIG. 8 is a flow diagram illustrating a process of controlling mechanical interface apparatus 25' in the simulation of an epidural anesthesia procedure. Appendix A includes an example listing of computer instructions to implement a control method for an epidural anesthesia procedure. A similar process and/or different procedures well known to those skilled in the art can be implemented in the simulation of other activities, procedures, games, etc., and with the use of other types of user objects 44.

When training an anesthesiologist using the simulator of the present invention, the trainee will typically practice the initial stages of the procedure on a patient or other conventional testing means, i.e., the trainee learns from an instructor how to place the patient on the operating table and locate the point of insertion about halfway between the vertebrae L4 and L5. At this point, the trainee can move over to the mechanical apparatus 25' and practice the remainder of the procedure.

When operating the mechanical interface apparatus 25', the trainee aims the needle 18 approximately 10° toward the head of the patient (which can be displayed on a computer monitor or head mounted display). When appropriate needle position is attained, needle insertion is begun. Various forces are provided on the needle as it is inserted depending on the distance and direction of travel through simulated tissue, as explained below.

The process begins at 202, and in step 204, the computer 16 and the mechanical interface apparatus 25' are powered up. Various initialization procedures can be performed at this stage for the components of the apparatus, as is well known to those skilled in the art. In step 206, the computer 16 retrieves sensor data from the sensors 162 of the interface apparatus. In the described embodiment, the computer 16 receives digital data from sensors 87a, 87b, and 87c, which are preferably rotary optical encoders. In step 208, the position and state of the needle is determined using the sensor data retrieved in step 206. The tip of shaft 28 of the needle 18 can be any designated point along shaft 28, and is preferably designated to be the point where the shaft 28 is coupled to needle mount 91. The needle tip is known to be a predetermined distance and angle from the links and members of the mechanical apparatus and its position can thus be calculated from the sensor data. The "state" of the needle includes whether the needle is advancing into the simulated tissue of the patient or being retracted from the tissue. In addition, the calculation of the angular position of each link of the apparatus 25' can be performed in this step. Although not necessary in the preferred embodiment, calculations in other embodiments can include compensations for the increased diameters of spindles 92 as the bands 100 wrap around themselves. As an example, the listing of instructions in Appendix A provides equations for calculating angular positions and other parameters for apparatus 25.

In step 210, the computer calculates an amount of force (torque) that would compensate for the influence of gravity on the user object (needle) and mechanical apparatus at the detected position of the needle tip. The gravity compensation uses forces generated by actuators 86a-c to support the weight of the actuators and the mechanism to allow the needle to be manipulated free from this weight. For example, FIG. 8a illustrates the needle 18, linear axis member 64, and transducer 66c and the effect of gravity on the mechanism. Linear axis member 64 is coupled to shaft 28 of needle 18. Transducer 66c is coupled to the linear axis member 64 and is one of the heaviest components of the apparatus 25. Unlike transducers 66a and 66b, transducer 66c is not grounded and therefore the user can feel the weight of transducer 66c when manipulating needle 18. The mechanism's center of gravity is shown by point 220, where gravity causes a downward force on the mechanism. This weight causes a significant moment about the pivot point P, i.e., the needle 18 is caused to undesirably rotate about the pivot point P and, due to the flexible nature of the needle shaft 28, prevent the needle from being rotated about point P, axes A and B (as shown in FIG. 3). Thus, in step 210, the computer calculates a force 222 equal to the gravitational force of the mass on mechanism and opposite in direction to compensate for the weight of the actuator and mechanism, taking into account the current position of the needle about the axes of the mechanism. This allows the user to freely rotate the needle about point P while feeling a negligible amount of the weight of the mechanism and actuator. The compensating force is calculated according to methods and equations well known to those skilled in the art.

In step 212, the process checks whether the needle is within the simulated tissue by checking the position determined in step 208. If not, then the process returns to step 206 to update the retrieved sensor data. If the needle is within the simulated tissue, then in step 213 the force on the needle, as exerted by the simulated tissue, is calculated for use in subsequent steps. In next step 214, the process checks if the needle has the desired angular position, where the "desired" position is one in which the advancing needle will contact the epidural space of the patient and not bone or other obstructions in the simulated body. Preferably, a predetermined angular range within the workspace of the needle is checked to determine if the needle is at the desired position. If so, step 216 is performed, where the appropriate physical property profile for the desired needle trajectory is selected from memory (such as RAM or ROM included in computer 16). A "physical property profile", as discussed herein, is a collection of stored predetermined values that characterize or describe a physical structure or area at different locations. For example, the different tissue layers beneath the skin may have different characteristics and thus will act differently on an advancing needle at different depths. The physical property profile can include material stiffness values that indicate the stiffness of the tissue at particular depths. A stiffness value from the profile is used by the process to eventually determine forces on the needle interacting with the simulated tissue. In other embodiments, other or additional physical property values can be included in the profile. For example, density and texture values can be provided for different depths of a patient's tissue. In other embodiments, a physical property profile may describe physical properties of different layers of, for example, sediment which can be used to determine forces on an instrument probing for oil.

Since, in the described embodiment, different physical property profiles are used for an advancing needle and for a retracting needle, the process checks the current position and one or more previous positions of the needle to determine the needle's direction and then selects the appropriate profile. This realistically simulates the different feel on a needle when advancing vs. retracting the needle. The value in the profile that corresponds to the current position of the needle is used in the calculation of force to be output, as described below. The physical property profiles are advantageous in that they include a number of property values corresponding to different depths. Thus, to provide for patient variation, the values can be easily changed to achieve a high degree of customization to simulate different tissue resistances and different sizes/depths of tissues in different patients.

FIG. 8b is a graph 230 showing the force output on needle 18 using a physical property profile with respect to needle insertion depth for a desired (successful) trajectory of the needle in the simulated tissue of a patient. These forces result from a profile selected when the needle is advancing into the simulated tissue. Between and insertion depth of 0 and 0.5 inches, an initial force spike 232 is output in the direction resisting the advance of the needle, after which the force drops sharply. Spike 232 is intended to simulate the puncturing of skin by the tip of the needle shaft 28, and thus a high stiffness value (and/or other values) are stored in the profile for this insertion depth. The force resisting the needle then increases steadily with insertion depth between about 0.75 and 2.75 inches. The small spike 233 is meant to simulate the needle encountering the Ligamentum flavum directly before the epidural space, which can be a hard substance that exerts a greater force on the needle, and thus corresponds to a higher stiffness in the profile. The force then drops sharply before an insertion depth of about 2.75 to 3 inches, at point 234. This drop in force simulates the needle entering the epidural space, which is the desired space to inject the anesthetic. Once this space is reached, the simulation is complete. In alternate embodiments, the other side of the epidural space can also be simulated. For example, after about a distance of 1/20th of an inch past point 234, a large force spike can be output based on a high tension value in the physical property profile, which simulates bone on the other side of the epidural space.

Referring back to FIG. 8, the process continues after step 216 to step 220, detailed below. If the needle does not have the desired or successful angular position in step 214, then step 218 is performed, where the appropriate physical property profile is selected for the needle encountering bone in the simulated body (or other obstacle), or a different "failure" profile is selected if desired. Thus, if the user angles the needle incorrectly, the needle will miss the desired epidural space and most likely will impact a bone structure. As in step 216, different profiles are available for both directions of movement of the incorrectly-angled needle in the simulated tissue.

FIG. 8c is a graph 240 showing the force output on needle 18 from a physical property profile with respect to needle insertion depth in the simulated tissue for a "vertebrae bone encounter", i.e., an unsuccessful needle trajectory in an epidural anesthesia procedure. This profile is used when the needle is advancing through the simulated tissue. Assuming that the needle tip starts within the tissue, the force is fairly constant between 0 and about 1.25 inches to simulate the resistance of tissue of average stiffness on the needle (alternately, if the needle tip starts outside the tissue, an initial force spike similar to spile 232 can be provided to simulate puncturing of the skin). At point 242 (about 1.25 inches in the present example), a very large force spike (e.g., as large a force as can be generated) is output based on a very high (or infinite) stiffness stored in the profile to create a "virtual wall." This simulates a hard structure, such as bone, which the needle cannot advance through, and makes it apparent to the user that the needle must be retracted. The mechanical apparatus 25' is well-suited to simulated this bone encounter, since, to rapidly increase the output force without introducing vibrations or instabilities, several requirements must be met. These requirements include a mechanical stiffness high enough so that components do not deflect under the input load; a transmission free of backlash and deflection under the force load; and a position resolution high enough that the discrete changes in force output do not cause vibrations in the linear axis. In the preferred embodiment of apparatus 25', the apparatus 25' is able to simulate a bone tissue stiffness of approximately 20 lbs/in., which is more than sufficient to simulate a bone encounter in the procedure.

Once a bone encounter is apparent, the user can retract the needle to just below the skin surface, shift the angular position of the needle, and try advancing the needle again. If the user believes that the needle almost missed the bone, then the needle can be retracted slightly and continued to be advanced while exerting a sideward force on the needle to move it away from the bone. Simulated tissue resistance and compliance can be important to realistically simulate these multiple forces on the needle, as well as forces about axes A and B provided by actuators 86a and 86b.

Referring back to FIG. 8, after step 218, the process continues to step 220. In step 220, the process calculates the force to output to the actuators based on appropriate parameters, such as the current position and/or previous position(s) of the needle in the simulated tissue and based on a value in the selected physical property profile that corresponds to the current position of the tip of the needle. The calculation of the force value is influenced by needle movement and parameters such as compliance and resistance of the tissue (which can also be stored in the profiles). In alternate embodiments, the calculated force value can be dependent on more complex factors. For example, the stiffness of the tissue at the tip of the needle as well as the stiffness of tissue on the sides of shaft 28 can be taken into account when calculating the force. In such an embodiment, the physical properties at different depths can be retrieved from the profile for different portions of the needle. In addition, the size (width/length) of needle 18 and the type of needle 18 (e.g., shape, material, etc.) can be used to influence the calculation of the force output on user object 44.

The computer then outputs the calculated force value(s) to the actuator interface that includes DAC 154 and power amplifier 156, and the appropriate forces are generated on needle 18 (or other object 44) by actuators 86a, 86b, and 86c. In addition, if the epidural space has been reached by the needle 18 in a successful needle trajectory, then the valve 89 is preferably opened so that the plunger 27 has no pressure exerted on it and can be moved by the user to simulate the "loss of resistance" in an epidural procedure. The valve 89 is also opened if the needle is not contacting any tissue (the valve 89 is closed at all other times to provide pressure on the plunger 27 while the needle is within other tissue). The process then returns to step 206 to retrieve updated sensor data from the sensors, and the process continues as described above.

FIG. 9 is a schematic diagram of an alternate embodiment 25" of mechanical apparatus 25 for use with a spherical user object or joystick user object Apparatus 25 includes a gimbal mechanism 38 and a linear axis member 40 similar to the mechanisms 38 and 40 described above with reference to FIG. 2a Linear axis member 40 is preferably a cylindrical or other shaped shaft. In FIG. 9, user manipulatable object 44 is a spherical ball 220 whose center X is positioned at or close to remote pivot point P at the intersection of axes A, B, D, and E. A user can grasp ball 220 and rotate the ball about pivot point P in two degrees of freedom about axes A and B. In the preferred embodiment, ball 220 cannot be moved in a linear degree of freedom since it is desired to keep ball 220 centered at point P. Alternatively, such a linear third degree of freedom can be implemented as described in embodiments above.

Since the remote pivot point P is at the center of ball 220, the ball will seem to rotate in place when it is moved in the provided degrees of freedom. This unique motion allows a user to fully grasp the rotating object, such as ball 220, without having a large support structure interfering with the user's grasp.

Additionally, a third rotary degree of freedom can be added for ball 220 as rotation or "spin" about axis C extending through the pivot point P and aligned with linear axis member 40. This third degree of freedom allows ball 220 to spin in place about its center.

As in the above embodiments, sensors and actuators can be included in apparatus 25" to provide an interface with a computer system The sensors provide information about the position of the object in one, two, and/or three degrees of freedom to the computer system, and the actuators are controlled by the computer system to output forces in one or more degrees of freedom. Some desired applications for apparatus 25" include a controller to manipulate the movement of computer-displayed images for CAD systems, video games, animations, or simulations and to provide forces to the user when the controlled images interact with other images or when otherwise appropriate. For example, the ball 220 can be rotated in different degrees of freedom to steer a vehicle through a computer-simulated environment Also, apparatus 25" can be used to remotely control real objects (teleoperation), such as remotely steering a real vehicle.

In alternate embodiments, ball 220 can include protrusions and/or indentations which conform to a user's hand and allow the user to grip the ball 220 more securely. Or, other-shaped objects 44 can be provided, such as a cylinder, ellipsoid, grip, etc., centered at point P. In yet other embodiments, linear axis member 40 can be extended so that pivot point P is positioned at a point on the liear axis member. The ball 220 could then be moved in two rotary degrees of freedom about pivot point P like a conventional joystick device.

FIG. 9a is a perspective view of an alternate embodiment of the mechanical apparatus and user object of FIG. 9. In FIG. 9a, user manipulatable object 44 is a handle grip 222, where the the center X of the grip is approximately positioned at the remote pivot point P. A user can grasp the grip 222 as shown. Preferably, three degrees of freedom about axes A, B, and C are provided as described above. Grip 222 is suitable for embodiments implementing video games or simulations.

One useful application for mechanical apparatus 25" with grip 222 is for controlling computer-generated objects in a simulation (including video games) implemented by computer 16 and which can be displayed on computer screen 20 as graphical objects. In a "position control" paradigm between interface apparatus 25" and the computer-generated object(s), movements of the grip 222 in provided degrees of freedom directly correspond to proportional movements of the controlled computer object such that locations in the workspace of the user object correspond directly to locations in the simulated space of the computer object. For example, moving grip 222 about axis C to a new position would move a displayed, controlled graphical cube about an equivalent axis on the display or move a cursor across the screen to an equivalent position on the display. In a "rate control" or "heading control" paradigm, movements of the grip 222 in provided degrees of freedom correspond to movements of the computer object in correponding directions or velocities to the grip movements. Rate control is often used to manipulate the velocity of a simulated controlled object, while heading control is used to manipulate the orientation of a displayed view/simulated entity, typically from a first person perspective. For example, using heading control, moving grip 222 about axis C would correspondingly move the view of a display screen and/or would move the cockpit of an aircraft in a simulated environment as if the user were in the cockpit. In some heading control embodiments, the three degrees of freedom can correspond to roll, pitch, and yaw controls mapped to the computer object in the simulation, as shown in FIG. 9a, where rotation about axes A and B is pitch and roll, and rotation about axis C is yaw. Thus, the roll, pitch, and yaw of a simulated object, such as a vehicle (e.g., aircraft, spaceship, etc.), can be controlled using interface apparatus 25".

While this invention has been described in terms of several preferred embodiments, it is contemplated that alterations, modifications and permutations thereof will become apparent to those skilled in the art upon a reading of the specification and study of the drawings. For example, the apparatus 25 can be used for a variety of applications besides medical simulation, including vehicle simulation, video games, etc. Likewise, other types of gimbal mechanisms or different mechanisms providing multiple degrees of freedom can be used with the capstan band drive mechanisms disclosed herein to reduce inertia, friction, and backlash in a force feedback system. A variety of devices can also be used to sense the position of an object in the provided degrees of freedom and to drive the object along those degrees of freedom. Furthermore, certain terminology has been used for the purposes of descriptive clarity, and not to limit the present invention. It is therefore intended that the following appended claims include all such alterations, modifications and permutations as fall within the true spirit and scope of the present invention. ##SPC1##

Claims (54)

What is claimed is:
1. An interface mechanism providing motion in at least two degrees of freedom for a user and interfacing said motion with a computer, said interface mechanism comprising:
a gimbal mechanism including a plurality of members pivotably coupled to each other and providing two revolute degrees of freedom about a single pivot point located remotely from said plurality of members, said pivot point located at about an intersection of axes of rotation of said members; and
a user manipulatable object coupled to at least one of said plurality of members, said user manipulatable object being rotatable in said two revolute degrees of freedom about said pivot point.
2. An interface mechanism as recited in claim 1 wherein said plurality of members includes five members, each of said five members pivotably coupled to at least one of said other five members.
3. An interface mechanism as recited in claim 1 wherein said plurality of members includes five members coupled in a closed loop such that each of said five members is pivotably coupled to two other members of said five members.
4. An interface mechanism as recited in claim 3 wherein said five members includes:
a ground member coupled to a ground surface;
first and second extension members, each extension member being coupled to said ground member;
first and second central members, said first central member having an end coupled to said first extension member and said second central member having an end coupled to said second extension member, wherein said central members are coupled to said linear axis member at ends not coupled to said extension members.
5. An interface mechanism as recited in claim 1 wherein said plurality of members are positioned exclusively on one side of said pivot point, wherein said members are provided within a hemisphere of a sphere defined such that said pivot point is at a center of said sphere and said user manipulatable object can be moved in a workspace that defines at least a portion of a surface of said sphere.
6. An interface mechanism as recited in claim 1 wherein at least a portion of said user manipulatable object extends through said pivot point.
7. An interface mechanism as recited in claim 6 wherein said user manipulatable object is independently translatable with respect to said gimbal mechanism along a linear third axis in a third degree of freedom through said pivot point.
8. An interface mechanism as recited in claim 3 further comprising a plurality of transducers, each of said transducers coupled between two of said members of said gimbal mechanism for an associated degree of freedom, said transducers being coupled to said computer.
9. An interface mechanism as recited in claim 8 wherein each of said transducers include a sensor for sensing the position of said user manipulatable object in said two degrees of freedom.
10. An interface mechanism as recited in claim 9 wherein each of said transducers includes an actuator for providing a force on said user manipulatable object in said two degrees of freedom.
11. An interface mechanism as recited in claim 10 wherein motion in said two degrees of freedom is input to a simulation implemented on said computer.
12. An interface mechanism as recited in claim 11 wherein said simulation is a video game.
13. An interface mechanism as recited in claim 3 wherein said user manipulatable object includes at least a portion of a medical instrument.
14. An interface mechanism as recited in claim 13 wherein said user manipulatable object includes a needle having at least a portion of a shaft and a syringe.
15. An interface mechanism as recited in claim 14 further comprising a plunger actuator coupled to said needle for selectively providing a pressure to a plunger of said syringe.
16. An interface mechanism as recited in claim 1 wherein a graspable portion of said user manipulatable object is approximately centered at said remote pivot point.
17. An interface mechanism as recited in claim 10 further comprising a band drive mechanism coupled between one of said actuators and one of said members, said band drive mechanism transmitting said force generated by said actuator to said user manipulatable object and transmitting movement applied to said user manipulatable object by a user to said sensors.
18. An interface mechanism as recited in claim 17 wherein said band drive mechanism includes a rotating drum rotatably coupled to a first one of said members and rigidly coupled to a second one of said members, said drum being additionally coupled to a spindle by a flat band, wherein said transducer is operative to rotate said spindle and thereby rotate said drum and transmit force to said second one of said members with substantially no backlash.
19. An interface mechanism as recited in claim 18 further comprising a second band drive mechanism coupled between a second one of said actuators and said user manipulatable object, said second band drive mechanism transmitting a force generated by said second actuator to said user manipulatable object in a linear degree of freedom approximately through said pivot point.
20. An interface mechanism as recited in claim 10 wherein said actuators are grounded.
21. A method for providing a simulation using a computer system and an interface apparatus, the method comprising:
providing an interface apparatus coupled to a user manipulatable object, said interface apparatus including a gimbal mechanism that provides two rotary degrees of freedom in a spherical workspace to said user manipulatable object, wherein said user manipulatable object may be rotated about a pivot point remote from said gimbal mechanism and located at a center of a sphere defined by said spherical workspace, and wherein said interface apparatus also provides a third linear degree of freedom to said user manipulatable object through said remote pivot point;
detecting on a computer system the position of said user manipulatable object in said linear degree of freedom from a sensor included on said interface apparatus; and
outputting a force on said user manipulatable object in said linear degree of freedom using an actuator coupled to said interface apparatus.
22. A method as recited in claim 21 wherein said interface apparatus is entirely on one side of a plane intersecting said pivot point such that said user manipulatable object is on the other side of said plane from said interface apparatus.
23. A method as recited in claim 22 wherein said interface apparatus includes a closed loop spherical mechanism for providing said two rotary degrees of freedom to said user manipulatable object about said remote point.
24. A method as recited in claim 23 further comprising transmitting said force from said actuator to said user manipulatable object using a band drive mechanism including a capstan coupled to said actuator and a flat band coupling said capstan to said mechanism.
25. A method as recited in claim 21 further comprising detecting on said computer system the position of said user manipulatable object in said two rotary degrees of freedom and outputting forces in said rotary degrees of freedom using second and third actuators, and outputting forces in said rotary degrees of freedom from said second and third actuators to compensate for the gravitational force resulting from the weight of at least one of said actuators and to allow said user manipulatable object to be manipulated free from said gravitational force.
26. A method as recited in claim 25 wherein said determining the position of said user manipulatable object includes determining whether said user manipulatable object is positioned within simulated tissue of a simulated patient.
27. A method as recited in claim 21 further comprising:
selecting a physical property profile used for determining forces on said user manipulatable object, wherein said physical property profile includes a plurality of predetermined physical property values, and wherein said selection of said physical property profile is based on a position of said user manipulatable object in at least said linear degree of freedom, wherein said force output on said user manipulatable object is determined, at least in part, from a physical property value of said selected physical property profile.
28. A method as recited in claim 27 wherein said selection of said physical property profile includes selecting from a plurality of available physical property profiles, and wherein said selection is also dependent on a direction of movement of said user manipulatable object in said linear degree of freedom.
29. A method as recited in claim 28 wherein said simulation is a epidural anesthesia simulation, wherein said user manipulatable object includes a needle having a syringe, and wherein different physical property profiles are selected based on whether said needle is advancing or retracting in simulated tissue of a simulated patient.
30. A method as recited in claim wherein said physical property profile is selected additionally based on a trajectory of said needle within said tissue.
31. A method as recited in claim 30 wherein one of said selected physical property profiles is used to determine forces simulating said needle encountering a bone.
32. A mechanism for providing motion in at least two degrees of freedom, said mechanism comprising:
a linear axis member able to move in two revolute degrees of freedom in a spherical workspace; and
a gimbal mechanism coupled to said linear axis member, said gimbal mechanism including a plurality of members pivotably coupled to each other and providing said two revolute degrees of freedom for said linear axis member about a pivot point located remotely from said plurality of members, said pivot point located at about an intersection of axes of rotation of said members at a center of a sphere defined by said spherical workspace.
33. A mechanism as recited in claim 32 wherein said linear axis member extends through said remote pivot point.
34. A mechanism as recited in claim 33 wherein said gimbal mechanism is entirely on one side of a plane intersecting said remote pivot point such that at least a portion of said linear axis member is on the other side of said plane from said gimbal mechanism.
35. A mechanism as recited in claim 34 wherein said plurality of members includes five members coupled in a closed loop such that each of said five members is pivotably coupled to two other members of said five members.
36. A mechanism as recited in claim 35 wherein said linear axis member includes a user manipulatable object such that a portion of said user manipulatable object that is graspable by said user is located on said other side of said plane from said gimbal mechanism.
37. A mechanism as recited in claim 36 wherein a grippable portion of said user manipulatable object is centered at said pivot point.
38. A mechanism as recited in claim 36 wherein said user manipulatable object is independently translatable with respect to said gimbal mechanism along a linear third axis in a third degree of freedom approximately through said remote pivot point.
39. A mechanism as recited in claim 36 further comprising a plurality of transducers, each of said transducers being coupled between two of said members of said gimbal mechanism for an associated degree of freedom, said transducers being coupled to a computer system, wherein each of said transducers includes a sensor for sensing the position of said user manipulatable object in said associated degree of freedom and an actuator for providing a force on said user manipulatable object in said associated degree of freedom.
40. A mechanism as recited in claim 36 wherein said user manipulatable object is provided with an additional rotary degree of freedom about a linear third axis parallel to said linear axis member such that said user manipulatable object has three rotary degees of freedom approximately about said pivot point.
41. A mechanism as recited in claim 40 wherein said mechanism is coupled to a computer system to interface motion of said user manipulatable object to said computer system, wherein said three rotary degrees of freedom correspond to roll, pitch and yaw degrees of freedom, and wherein said roll, pitch, and yaw are mapped to a simulation implemented by said computer system where movement in said roll, pitch, and yaw degrees of freedom control roll, pitch, and yaw, respectively, of a computer object in said simulation.
42. An interface mechanism for interfacing motion with a computer system, said interface mechanism comprising:
a plurality of members, each of said members being coupled to at least one other of said members and movable with respect to said other members, said plurality of members providing two revolute degrees of freedom to a user manipulatable object about a pivot point located remotely from said plurality of members, said pivot point located at about an intersection of axes of rotation of said members;
an actuator for providing a force in said degree of freedom of said user manipulable object;
a sensor for sensing positions of said user manipulatable object in said at least one degree of freedom; and
a band drive mechanism, said band drive mechanism including a capstan and a flat band, said capstan coupled to a particular one of said members and to a rotating shaft of said actuator, wherein said capstan is coupled to said particular member by said flat band such that force is applied to said particular member in said at least one degree of freedom when said rotating shaft of said actuator is rotated.
43. An interface mechanism as recited in claim 42 wherein said force is applied to said particular member in a linear degree of freedom.
44. An interface mechanism as recited in claim 42 wherein said force is applied to said particular member in a rotary degree of freedom.
45. An interface mechanism as recited in claim 42 wherein said flat band includes two separate bands, wherein each of said bands is coupled to said capstan at first ends and each of said bands is attached to said particular member at a second end.
46. An interface mechanism as recited in claim 44 further comprising a drum rigidly coupled to said particular member and rotatably coupled to another one of said plurality of members, wherein said capstan is coupled to said drum by said flat band.
47. An interface mechanism as recited in claim 46 wherein said particular member is one of five rotatably coupled members provided in a closed loop chain such that each of said members is rotatably coupled to two others of said members.
48. An interface mechanism as recited in claim 42 wherein said actuator is grounded.
49. An interface mechanism as recited in claim 42 wherein said user manipulatable object extends through said pivot point and is movable in said two degrees of freedom.
50. An interface mechanism as recited in claim 42 wherein said user manipulatable object is coupled to a linear axis member, wherein said user manipulatable object and said linear axis member are movable in a third linear degree of freedom.
51. An interface mechanism as recited in claim 50 further comprising a second band drive mechanism including a second capstan and a second flat band, said second capstan coupled to said linear axis member by a flat band and to a rotating shaft of said actuator, such that force is applied to said user manipulatable object in said third linear degree of freedom when said rotating shaft of said actuator is rotated.
52. An interface mechanism as recited in claim 50 wherein said linear axis member is a slide portion of a linear bearing.
53. An interface mechanism as recited in claim 42 wherein said computer system implements a medical simulation and wherein said user-manipulable object is a medical instrument.
54. An interface mechanism as recited in claim 53 wherein said user manipulatable object includes a needle and syringe, and wherein said medical simulation simulates an epidural anesthesia procedure of inserting said needle into tissue, where forces are provided on said needle to realistically simulate said insertion.
US08/709,012 1996-09-06 1996-09-06 Hemispherical, high bandwidth mechanical interface for computer systems Expired - Lifetime US6024576A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US08/709,012 US6024576A (en) 1996-09-06 1996-09-06 Hemispherical, high bandwidth mechanical interface for computer systems

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
US08/709,012 US6024576A (en) 1996-09-06 1996-09-06 Hemispherical, high bandwidth mechanical interface for computer systems
CA002265590A CA2265590A1 (en) 1996-09-06 1997-09-04 Hemispherical, high bandwidth mechanical interface for computer systems
PCT/US1997/015656 WO1998009580A1 (en) 1996-09-06 1997-09-04 Hemispherical, high bandwidth mechanical interface for computer systems
US09/448,536 US6705871B1 (en) 1996-09-06 1999-11-22 Method and apparatus for providing an interface mechanism for a computer simulation
US10/797,155 US7249951B2 (en) 1996-09-06 2004-03-11 Method and apparatus for providing an interface mechanism for a computer simulation
US11/412,290 US7500853B2 (en) 1996-09-06 2006-04-26 Mechanical interface for a computer system

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US09/448,536 Continuation US6705871B1 (en) 1996-09-06 1999-11-22 Method and apparatus for providing an interface mechanism for a computer simulation

Publications (1)

Publication Number Publication Date
US6024576A true US6024576A (en) 2000-02-15

Family

ID=24848122

Family Applications (4)

Application Number Title Priority Date Filing Date
US08/709,012 Expired - Lifetime US6024576A (en) 1996-09-06 1996-09-06 Hemispherical, high bandwidth mechanical interface for computer systems
US09/448,536 Expired - Lifetime US6705871B1 (en) 1996-09-06 1999-11-22 Method and apparatus for providing an interface mechanism for a computer simulation
US10/797,155 Expired - Lifetime US7249951B2 (en) 1996-09-06 2004-03-11 Method and apparatus for providing an interface mechanism for a computer simulation
US11/412,290 Expired - Lifetime US7500853B2 (en) 1996-09-06 2006-04-26 Mechanical interface for a computer system

Family Applications After (3)

Application Number Title Priority Date Filing Date
US09/448,536 Expired - Lifetime US6705871B1 (en) 1996-09-06 1999-11-22 Method and apparatus for providing an interface mechanism for a computer simulation
US10/797,155 Expired - Lifetime US7249951B2 (en) 1996-09-06 2004-03-11 Method and apparatus for providing an interface mechanism for a computer simulation
US11/412,290 Expired - Lifetime US7500853B2 (en) 1996-09-06 2006-04-26 Mechanical interface for a computer system

Country Status (3)

Country Link
US (4) US6024576A (en)
CA (1) CA2265590A1 (en)
WO (1) WO1998009580A1 (en)

Cited By (116)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000021071A2 (en) * 1998-09-17 2000-04-13 Immersion Corporation Improvements in haptic feedback control devices
WO2001018617A1 (en) * 1999-09-09 2001-03-15 Rutgers, The State Of University Of New Jersey Remote mechanical mirroring using controlled stiffness and actuators (memica)
US6256047B1 (en) * 1997-06-04 2001-07-03 Konami Co., Ltd. Method of judging hits and computer-readable storage medium storing game data
US6278439B1 (en) 1995-12-01 2001-08-21 Immersion Corporation Method and apparatus for shaping force signals for a force feedback device
US6323837B1 (en) 1994-07-14 2001-11-27 Immersion Corporation Method and apparatus for interfacing an elongated object with a computer system
USRE37528E1 (en) 1994-11-03 2002-01-22 Immersion Corporation Direct-drive manipulator for pen-based force display
US20020018046A1 (en) * 1995-01-18 2002-02-14 Immersion Corporation Laparoscopic simulation interface
US6396232B2 (en) 1997-11-03 2002-05-28 Cybernet Haptic Systems Corporation Haptic pointing devices
DE10055292A1 (en) * 2000-11-03 2002-05-29 Storz Karl Gmbh & Co Kg The simulator apparatus with at least two degrees of freedom of movement for an instrument
DE10055294A1 (en) * 2000-11-03 2002-05-29 Storz Karl Gmbh & Co Kg The simulator apparatus with at least two degrees of freedom of movement for an instrument
WO2002043030A2 (en) * 2000-11-22 2002-05-30 Xitact S.A. Device for simulating a rod-shaped surgical instrument with a back-coupling of forces
US6463401B1 (en) * 1999-05-12 2002-10-08 Chu-Yuan Liao Operating/controlling device for computer game
US20030038776A1 (en) * 1998-06-23 2003-02-27 Immersion Corporation Haptic feedback for touchpads and other touch controls
US6538634B1 (en) * 1998-12-18 2003-03-25 Kent Ridge Digital Labs Apparatus for the simulation of image-guided surgery
US20030063064A1 (en) * 1997-11-14 2003-04-03 Immersion Corporation Force effects for object types in a graphical user interface
US20030068607A1 (en) * 2001-07-16 2003-04-10 Immersion Corporation Interface apparatus with cable-driven force feedback and four grounded actuators
WO2003050783A1 (en) * 2001-12-11 2003-06-19 Keymed (Medical And Industrial Equipment) Ltd An apparatus for use in training an operator in the use of an endoscope system
US6583783B1 (en) * 1998-08-10 2003-06-24 Deutsches Zentrum Fur Luft- Und Raumfahrt E.V. Process for performing operations using a 3D input device
FR2835579A1 (en) * 2002-02-04 2003-08-08 Commissariat Energie Atomique A displacement of spherical element
US20040046740A1 (en) * 1998-04-10 2004-03-11 Martin Kenneth M. Position sensing methods for interface devices
US6705871B1 (en) * 1996-09-06 2004-03-16 Immersion Corporation Method and apparatus for providing an interface mechanism for a computer simulation
US6781569B1 (en) 1999-06-11 2004-08-24 Immersion Corporation Hand controller
US20040248072A1 (en) * 2001-10-02 2004-12-09 Gray Roger Leslie Method and apparatus for simulation of an endoscopy operation
US6857878B1 (en) 1998-01-26 2005-02-22 Simbionix Ltd. Endoscopic tutorial system
US20050134562A1 (en) * 2003-12-22 2005-06-23 Grant Danny A. System and method for controlling haptic devices having multiple operational modes
US20050162804A1 (en) * 2001-06-27 2005-07-28 Boronkay Allen R. Position sensor with resistive element
US20050183532A1 (en) * 2004-02-25 2005-08-25 University Of Manitoba Hand controller and wrist device
US20050214726A1 (en) * 2004-03-23 2005-09-29 David Feygin Vascular-access simulation system with receiver for an end effector
US20050277096A1 (en) * 2004-06-14 2005-12-15 Hendrickson Daniel L Medical simulation system and method
US20060073458A1 (en) * 2004-09-21 2006-04-06 Andre Ehrhardt Virtual OP simulator
US20060122555A1 (en) * 1998-04-10 2006-06-08 Mark Hochman Drug infusion device for neural axial and peripheral nerve tissue identification using exit pressure sensing
US20060161621A1 (en) * 2005-01-15 2006-07-20 Outland Research, Llc System, method and computer program product for collaboration and synchronization of media content on a plurality of media players
US20060167943A1 (en) * 2005-01-27 2006-07-27 Outland Research, L.L.C. System, method and computer program product for rejecting or deferring the playing of a media file retrieved by an automated process
US20060167576A1 (en) * 2005-01-27 2006-07-27 Outland Research, L.L.C. System, method and computer program product for automatically selecting, suggesting and playing music media files
US20060173556A1 (en) * 2005-02-01 2006-08-03 Outland Research,. Llc Methods and apparatus for using user gender and/or age group to improve the organization of documents retrieved in response to a search query
US20060173828A1 (en) * 2005-02-01 2006-08-03 Outland Research, Llc Methods and apparatus for using personal background data to improve the organization of documents retrieved in response to a search query
US20060179056A1 (en) * 2005-10-12 2006-08-10 Outland Research Enhanced storage and retrieval of spatially associated information
US20060179044A1 (en) * 2005-02-04 2006-08-10 Outland Research, Llc Methods and apparatus for using life-context of a user to improve the organization of documents retrieved in response to a search query from that user
US7089949B1 (en) * 2003-04-17 2006-08-15 The United States Of America As Represented By The Secretary Of The Navy Apparatus for maneuvering a device within the interior of storage tanks
US20060186197A1 (en) * 2005-06-16 2006-08-24 Outland Research Method and apparatus for wireless customer interaction with the attendants working in a restaurant
US20060190823A1 (en) * 2001-05-04 2006-08-24 Immersion Corporation Haptic interface for palpation simulation
US20060195361A1 (en) * 2005-10-01 2006-08-31 Outland Research Location-based demographic profiling system and method of use
US20060223637A1 (en) * 2005-03-31 2006-10-05 Outland Research, Llc Video game system combining gaming simulation with remote robot control and remote robot feedback
US20060223635A1 (en) * 2005-04-04 2006-10-05 Outland Research method and apparatus for an on-screen/off-screen first person gaming experience
US20060227047A1 (en) * 2005-12-13 2006-10-12 Outland Research Meeting locator system and method of using the same
US20060229058A1 (en) * 2005-10-29 2006-10-12 Outland Research Real-time person-to-person communication using geospatial addressing
US20060241864A1 (en) * 2005-04-22 2006-10-26 Outland Research, Llc Method and apparatus for point-and-send data transfer within an ubiquitous computing environment
US20060253210A1 (en) * 2005-03-26 2006-11-09 Outland Research, Llc Intelligent Pace-Setting Portable Media Player
US20060259574A1 (en) * 2005-05-13 2006-11-16 Outland Research, Llc Method and apparatus for accessing spatially associated information
US20060256007A1 (en) * 2005-05-13 2006-11-16 Outland Research, Llc Triangulation method and apparatus for targeting and accessing spatially associated information
US20060256008A1 (en) * 2005-05-13 2006-11-16 Outland Research, Llc Pointing interface for person-to-person information exchange
US20060271286A1 (en) * 2005-05-27 2006-11-30 Outland Research, Llc Image-enhanced vehicle navigation systems and methods
US20060288074A1 (en) * 2005-09-09 2006-12-21 Outland Research, Llc System, Method and Computer Program Product for Collaborative Broadcast Media
US20070057913A1 (en) * 2002-12-08 2007-03-15 Immersion Corporation, A Delaware Corporation Methods and systems for providing haptic messaging to handheld communication devices
US20070075127A1 (en) * 2005-12-21 2007-04-05 Outland Research, Llc Orientation-based power conservation for portable media devices
US20070083323A1 (en) * 2005-10-07 2007-04-12 Outland Research Personal cuing for spatially associated information
US20070103437A1 (en) * 2005-10-26 2007-05-10 Outland Research, Llc Haptic metering for minimally invasive medical procedures
US20070125852A1 (en) * 2005-10-07 2007-06-07 Outland Research, Llc Shake responsive portable media player
US20070129888A1 (en) * 2005-12-05 2007-06-07 Outland Research Spatially associated personal reminder system and method
US20070145680A1 (en) * 2005-12-15 2007-06-28 Outland Research, Llc Shake Responsive Portable Computing Device for Simulating a Randomization Object Used In a Game Of Chance
US20070150188A1 (en) * 2005-05-27 2007-06-28 Outland Research, Llc First-person video-based travel planning system
US20070173788A1 (en) * 2006-01-25 2007-07-26 Schena Bruce M Robotic arm with five-bar spherical linkage
US20070173977A1 (en) * 2006-01-25 2007-07-26 Schena Bruce M Center robotic arm with five-bar spherical linkage for endoscopic camera
US20070173789A1 (en) * 2006-01-25 2007-07-26 Schena Bruce M Robotic arm with five-bar spherical linkage
US20070173975A1 (en) * 2006-01-25 2007-07-26 Schena Bruce M Center robotic arm with five-bar spherical linkage for endoscopic camera
US20070173976A1 (en) * 2006-01-25 2007-07-26 Schena Bruce M Center robotic arm with five-bar spherical linkage for endoscopic camera
US20070276870A1 (en) * 2005-01-27 2007-11-29 Outland Research, Llc Method and apparatus for intelligent media selection using age and/or gender
US20080032719A1 (en) * 2005-10-01 2008-02-07 Outland Research, Llc Centralized establishment-based tracking and messaging service
US20080032723A1 (en) * 2005-09-23 2008-02-07 Outland Research, Llc Social musical media rating system and method for localized establishments
US20080060856A1 (en) * 2000-01-19 2008-03-13 Immersion Corporation Haptic interface for touch screen embodiments
US20080132313A1 (en) * 2005-09-08 2008-06-05 Rasmussen James M Gaming machine having display with sensory feedback
US20080131855A1 (en) * 1996-05-08 2008-06-05 Gaumard Scientific Company, Inc. Interactive Education System for Teaching Patient Care
US20080138780A1 (en) * 2000-08-17 2008-06-12 Gaumard Scientific Company, Inc. Interactive Education System for Teaching Patient Care
US20080138779A1 (en) * 1996-05-08 2008-06-12 Gaumard Scientific Company, Inc. Interactive Education System for Teaching Patient Care
US20080138778A1 (en) * 1996-05-08 2008-06-12 Gaumard Scientific Company, Inc. Interactive Education System for Teaching Patient Care
US20080223165A1 (en) * 2005-02-11 2008-09-18 Patrick Helmer Device For Transmitting Movements and Components Thereof
EP1988446A1 (en) 1997-04-25 2008-11-05 Immersion Corporation Method and apparatus for designing and controlling force sensations in force feedback computer applications
US20090018808A1 (en) * 2007-01-16 2009-01-15 Simbionix Ltd. Preoperative Surgical Simulation
US20090021473A1 (en) * 2002-12-08 2009-01-22 Grant Danny A Haptic Communication Devices
US7519537B2 (en) 2005-07-19 2009-04-14 Outland Research, Llc Method and apparatus for a verbo-manual gesture interface
US20090095108A1 (en) * 2004-12-20 2009-04-16 Shahram Payandeh Spherical linkage and force feedback controls
US20090148822A1 (en) * 2007-12-07 2009-06-11 Gaumard Scientific Company, Inc. Interactive Education System for Teaching Patient Care
US20090176196A1 (en) * 2007-12-03 2009-07-09 Endosim Limited Laparoscopic apparatus
US20100134327A1 (en) * 2008-11-28 2010-06-03 Dinh Vincent Vinh Wireless haptic glove for language and information transference
US20100160016A1 (en) * 2006-03-31 2010-06-24 Shimabukuro Jorge L Portable Wagering Game With Vibrational Cues and Feedback Mechanism
US20100167820A1 (en) * 2008-12-29 2010-07-01 Houssam Barakat Human interface device
US7811090B2 (en) 1996-05-08 2010-10-12 Gaumard Scientific Company, Inc. Interactive education system for teaching patient care
US20100273134A1 (en) * 2008-01-07 2010-10-28 Chen Weijian Endoscope simulation apparatus and system and method using the same to perform simulation
US7850456B2 (en) 2003-07-15 2010-12-14 Simbionix Ltd. Surgical simulation device, system and method
US8543338B2 (en) 2007-01-16 2013-09-24 Simbionix Ltd. System and method for performing computerized simulations for image-guided procedures using a patient specific model
US20140001318A1 (en) * 2011-03-17 2014-01-02 Eb-Invent Gmbh Manipulator
US20140135794A1 (en) * 2011-07-13 2014-05-15 Technische Universiteit Eindhoven Microsurgical Robot System
US8745104B1 (en) 2005-09-23 2014-06-03 Google Inc. Collaborative rejection of media for physical establishments
US20140192020A1 (en) * 2006-07-03 2014-07-10 Force Dimension S.A.R.L. Active gripper for haptic devices
US8830161B2 (en) 2002-12-08 2014-09-09 Immersion Corporation Methods and systems for providing a virtual touch haptic effect to handheld communication devices
US9058714B2 (en) 2011-05-23 2015-06-16 Wms Gaming Inc. Wagering game systems, wagering gaming machines, and wagering gaming chairs having haptic and thermal feedback
US9105200B2 (en) 2011-10-04 2015-08-11 Quantant Technology, Inc. Semi-automated or fully automated, network and/or web-based, 3D and/or 4D imaging of anatomy for training, rehearsing and/or conducting medical procedures, using multiple standard X-ray and/or other imaging projections, without a need for special hardware and/or systems and/or pre-processing/analysis of a captured image data
US20150224639A1 (en) * 2014-02-07 2015-08-13 Control Interfaces LLC Remotely operated manipulator and rov control systems and methods
US9119655B2 (en) 2012-08-03 2015-09-01 Stryker Corporation Surgical manipulator capable of controlling a surgical instrument in multiple modes
US9142083B2 (en) 2011-06-13 2015-09-22 Bally Gaming, Inc. Convertible gaming chairs and wagering game systems and machines with a convertible gaming chair
US20150289946A1 (en) * 2012-11-30 2015-10-15 Surgical Science Sweden Ab User interface device for surgical simulation system
TWI504492B (en) * 2013-04-30 2015-10-21 Hiwin Tech Corp
US9226796B2 (en) 2012-08-03 2016-01-05 Stryker Corporation Method for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path
US9245428B2 (en) 2012-08-02 2016-01-26 Immersion Corporation Systems and methods for haptic remote control gaming
US20160117956A1 (en) * 2013-06-07 2016-04-28 Surgical Science Sweden Ab A user interface for a surgical simulation system
US20160314710A1 (en) * 2013-12-20 2016-10-27 Intuitive Surgical Operations, Inc. Simulator system for medical procedure training
US9480534B2 (en) 2012-08-03 2016-11-01 Stryker Corporation Navigation system and method for removing a volume of tissue from a patient
US9501955B2 (en) 2001-05-20 2016-11-22 Simbionix Ltd. Endoscopic ultrasonography simulation
US9504790B1 (en) 2016-02-23 2016-11-29 Milestone Scientific, Inc. Device and method for identification of a target region
US9509269B1 (en) 2005-01-15 2016-11-29 Google Inc. Ambient sound responsive media player
US9582178B2 (en) 2011-11-07 2017-02-28 Immersion Corporation Systems and methods for multi-pressure interaction on touch-sensitive surfaces
US20170158360A1 (en) * 2015-12-04 2017-06-08 Grifols Engineering, S.A. Syringe needle position and deviation correction method in a machine for the automatic preparation of intravenous medication
US9820818B2 (en) 2012-08-03 2017-11-21 Stryker Corporation System and method for controlling a surgical manipulator based on implant parameters
US9921712B2 (en) 2010-12-29 2018-03-20 Mako Surgical Corp. System and method for providing substantially stable control of a surgical tool
US9956341B2 (en) 2012-07-03 2018-05-01 Milestone Scientific, Inc. Drug infusion with pressure sensing and non-continuous flow for identification of and injection into fluid-filled anatomic spaces
US10235904B2 (en) 2014-12-01 2019-03-19 Truinject Corp. Injection training tool emitting omnidirectional light

Families Citing this family (112)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6375471B1 (en) 1998-07-10 2002-04-23 Mitsubishi Electric Research Laboratories, Inc. Actuator for independent axial and rotational actuation of a catheter or similar elongated object
JP2000042118A (en) * 1998-07-10 2000-02-15 Mitsubishi Electric Inf Technol Center America Inc Feeling feedback generating method and device for elongated object such as catheter or the like
AU1825400A (en) 1998-11-23 2000-06-13 Microdexterity Systems, Inc. Surgical manipulator
WO2002005217A1 (en) * 2000-07-07 2002-01-17 Kent Ridge Digital Labs A virtual surgery system with force feedback
US7892243B2 (en) 2001-01-16 2011-02-22 Microdexterity Systems, Inc. Surgical manipulator
GB0102245D0 (en) * 2001-01-29 2001-03-14 Acrobot Company The Ltd Systems/Methods
WO2003021553A1 (en) * 2001-09-03 2003-03-13 Xitact S.A. Device for simulating a rod-shaped surgical instrument for generating a feedback signal
DE10295032D2 (en) 2001-10-29 2004-09-23 Albert Schaeffer Input device according to parallel kinematic principle with haptic feedback
WO2005039835A1 (en) * 2003-10-24 2005-05-06 The University Of Western Ontario Force reflective robotic control system and minimally invasive surgical device
US20080028881A1 (en) * 2003-12-03 2008-02-07 Keisuke Sone Linkage System
AU2005225878B2 (en) * 2004-03-26 2009-09-10 Atsushi Takahashi 3D entity digital magnifying glass system having 3D visual instruction function
US7289106B2 (en) * 2004-04-01 2007-10-30 Immersion Medical, Inc. Methods and apparatus for palpation simulation
US20060209019A1 (en) * 2004-06-01 2006-09-21 Energid Technologies Corporation Magnetic haptic feedback systems and methods for virtual reality environments
CA2482240A1 (en) * 2004-09-27 2006-03-27 Claude Choquet Body motion training and qualification system and method
EP1690651A1 (en) * 2005-02-11 2006-08-16 Force Dimension S.à.r.l Kinematic chain with an arm comprising a curved portion and parallel kinematics transmission structure with such kinematic chains
US20060243085A1 (en) * 2005-04-25 2006-11-02 Blake Hannaford Spherical motion mechanism
US20110020779A1 (en) * 2005-04-25 2011-01-27 University Of Washington Skill evaluation using spherical motion mechanism
US20080200843A1 (en) * 2005-08-09 2008-08-21 Ohio Universtiy Method and Apparatus for Measurement of Human Tissue Properties in Vivo
EP1917060A1 (en) * 2005-08-26 2008-05-07 Novodural Pty Ltd. Improvements relating to epidural administration systems
US7860614B1 (en) * 2005-09-13 2010-12-28 The United States Of America As Represented By The Secretary Of The Army Trainer for robotic vehicle
EP1989606A1 (en) * 2005-09-15 2008-11-12 Albert Schaeffer Joint for the coupling of a plurality of, in particular, rod-shaped coupling parts
CN101309783B (en) * 2005-11-16 2013-09-11 Abb股份有限公司 Method and device for controlling motion of an industrial robot equiped with positioning switch
US20070143094A1 (en) * 2005-12-15 2007-06-21 Torres Robert J Systems, methods, and media for integrating and driving experimental design and analysis
JP4079379B2 (en) * 2005-12-26 2008-04-23 エッチ・アール・エス コンサルタントサービス有限会社 Echocardiographic diagnosis education equipment
US9224303B2 (en) * 2006-01-13 2015-12-29 Silvertree Media, Llc Computer based system for training workers
CA2583107C (en) * 2006-03-31 2011-09-13 Universite De Sherbrooke High performance differential actuator for robotic interaction tasks
US8395626B2 (en) * 2006-04-08 2013-03-12 Alan Millman Method and system for interactive simulation of materials
US8786613B2 (en) 2006-04-08 2014-07-22 Alan Millman Method and system for interactive simulation of materials and models
US7783384B2 (en) * 2006-05-31 2010-08-24 Kraft Brett W Ambidextrous robotic master controller
WO2007147232A1 (en) * 2006-06-19 2007-12-27 Robarts Research Institute Apparatus for guiding a medical tool
US7950306B2 (en) 2007-02-23 2011-05-31 Microdexterity Systems, Inc. Manipulator
US8746103B2 (en) * 2007-06-25 2014-06-10 Quanser Consulting Inc. Mechanical linkage
US9274612B2 (en) 2008-01-04 2016-03-01 Tactus Technology, Inc. User interface system
US9557915B2 (en) 2008-01-04 2017-01-31 Tactus Technology, Inc. Dynamic tactile interface
US8547339B2 (en) 2008-01-04 2013-10-01 Tactus Technology, Inc. System and methods for raised touch screens
WO2010078596A1 (en) 2009-01-05 2010-07-08 Tactus Technology, Inc. User interface system
US9612659B2 (en) 2008-01-04 2017-04-04 Tactus Technology, Inc. User interface system
US9588684B2 (en) 2009-01-05 2017-03-07 Tactus Technology, Inc. Tactile interface for a computing device
US8922510B2 (en) 2008-01-04 2014-12-30 Tactus Technology, Inc. User interface system
US9720501B2 (en) 2008-01-04 2017-08-01 Tactus Technology, Inc. Dynamic tactile interface
US9430074B2 (en) 2008-01-04 2016-08-30 Tactus Technology, Inc. Dynamic tactile interface
US9298261B2 (en) 2008-01-04 2016-03-29 Tactus Technology, Inc. Method for actuating a tactile interface layer
US9298262B2 (en) 2010-01-05 2016-03-29 Tactus Technology, Inc. Dynamic tactile interface
US8154527B2 (en) 2008-01-04 2012-04-10 Tactus Technology User interface system
US8928621B2 (en) 2008-01-04 2015-01-06 Tactus Technology, Inc. User interface system and method
US9423875B2 (en) 2008-01-04 2016-08-23 Tactus Technology, Inc. Dynamic tactile interface with exhibiting optical dispersion characteristics
US8553005B2 (en) 2008-01-04 2013-10-08 Tactus Technology, Inc. User interface system
US8179375B2 (en) * 2008-01-04 2012-05-15 Tactus Technology User interface system and method
US9760172B2 (en) 2008-01-04 2017-09-12 Tactus Technology, Inc. Dynamic tactile interface
US9552065B2 (en) 2008-01-04 2017-01-24 Tactus Technology, Inc. Dynamic tactile interface
US8456438B2 (en) 2008-01-04 2013-06-04 Tactus Technology, Inc. User interface system
US8922502B2 (en) 2008-01-04 2014-12-30 Tactus Technology, Inc. User interface system
US9588683B2 (en) 2008-01-04 2017-03-07 Tactus Technology, Inc. Dynamic tactile interface
US8947383B2 (en) 2008-01-04 2015-02-03 Tactus Technology, Inc. User interface system and method
US9052790B2 (en) 2008-01-04 2015-06-09 Tactus Technology, Inc. User interface and methods
US9063627B2 (en) 2008-01-04 2015-06-23 Tactus Technology, Inc. User interface and methods
WO2010078597A1 (en) * 2009-01-05 2010-07-08 Tactus Technology, Inc. User interface system
US8570295B2 (en) 2008-01-04 2013-10-29 Tactus Technology, Inc. User interface system
US8915743B2 (en) * 2008-08-12 2014-12-23 Simquest Llc Surgical burr hole drilling simulator
CN105260110A (en) 2009-07-03 2016-01-20 泰克图斯科技公司 Enhanced user interface system
US8243038B2 (en) 2009-07-03 2012-08-14 Tactus Technologies Method for adjusting the user interface of a device
DE102009048994A1 (en) * 2009-10-09 2011-04-14 Karl Storz Gmbh & Co. Kg Simulation system for training endoscopic operations
EP2497077A1 (en) * 2009-11-02 2012-09-12 Bangor University Haptic needle as part of medical training simulator.
US8262432B2 (en) * 2009-12-15 2012-09-11 Nike, Inc. Lightweight enhanced modesty sports bra cup
WO2011087817A1 (en) 2009-12-21 2011-07-21 Tactus Technology User interface system
US20110165542A1 (en) * 2010-01-07 2011-07-07 Fairfield University Multi-parameter, customizable simulation building system for clinical scenarios for educating and training nurses and other health care professionals
KR101250796B1 (en) * 2010-02-02 2013-04-04 한국과학기술연구원 injection simulation system and method
US8619035B2 (en) 2010-02-10 2013-12-31 Tactus Technology, Inc. Method for assisting user input to a device
WO2011112984A1 (en) 2010-03-11 2011-09-15 Tactus Technology User interface system
CN102200180B (en) * 2010-03-24 2015-02-04 鸿富锦精密工业(深圳)有限公司 Deceleration mechanism
US20110236866A1 (en) * 2010-03-25 2011-09-29 Psaltis Gregory L Anesthetic Injection Training and Testing System
KR20130141344A (en) 2010-04-19 2013-12-26 택투스 테크놀로지, 아이엔씨. Method of actuating a tactile interface layer
KR20130136905A (en) 2010-04-19 2013-12-13 택투스 테크놀로지, 아이엔씨. User interface system
US8483873B2 (en) 2010-07-20 2013-07-09 Innvo Labs Limited Autonomous robotic life form
US8636519B2 (en) * 2010-10-05 2014-01-28 Biosense Webster (Israel) Ltd. Simulation of an invasive procedure
KR20140037011A (en) 2010-10-20 2014-03-26 택투스 테크놀로지, 아이엔씨. User interface system
US8602456B2 (en) 2010-12-09 2013-12-10 Harris Corporation Ball joint having a passageway for routing a cable therethrough
US8606403B2 (en) 2010-12-14 2013-12-10 Harris Corporation Haptic interface handle with force-indicating trigger mechanism
US8918214B2 (en) 2011-01-19 2014-12-23 Harris Corporation Telematic interface with directional translation
US8918215B2 (en) 2011-01-19 2014-12-23 Harris Corporation Telematic interface with control signal scaling based on force sensor feedback
US9205555B2 (en) 2011-03-22 2015-12-08 Harris Corporation Manipulator joint-limit handling algorithm
US8694134B2 (en) 2011-05-05 2014-04-08 Harris Corporation Remote control interface
US8639386B2 (en) 2011-05-20 2014-01-28 Harris Corporation Haptic device for manipulator and vehicle control
US9026250B2 (en) 2011-08-17 2015-05-05 Harris Corporation Haptic manipulation system for wheelchairs
EP3213697A1 (en) 2011-09-02 2017-09-06 Stryker Corporation Surgical instrument including a housing, a cutting accessory that extends from the housing and actuators that establish the position of the cutting accessory relative to the housing
US8996244B2 (en) 2011-10-06 2015-03-31 Harris Corporation Improvised explosive device defeat system
US9020615B2 (en) 2011-12-06 2015-04-28 Microsoft Technology Licensing, Llc Stability control system
US9035742B2 (en) 2011-12-06 2015-05-19 Microsoft Technology Licensing, Llc Electronic compensated pivot control
US9424761B2 (en) 2012-01-23 2016-08-23 Virtamed Ag Medical simulation system and method with configurable anatomy model manufacturing
US8992230B2 (en) * 2012-01-23 2015-03-31 Virtamed Ag Medical training systems and methods
US9489869B2 (en) * 2012-02-24 2016-11-08 Arizona Board Of Regents, On Behalf Of The University Of Arizona Portable low cost computer assisted surgical trainer and assessment system
US9405417B2 (en) 2012-09-24 2016-08-02 Tactus Technology, Inc. Dynamic tactile interface and methods
CN104662497A (en) 2012-09-24 2015-05-27 泰克图斯科技公司 Dynamic tactile interface and methods
WO2014070799A1 (en) * 2012-10-30 2014-05-08 Truinject Medical Corp. System for injection training
US9792836B2 (en) 2012-10-30 2017-10-17 Truinject Corp. Injection training apparatus using 3D position sensor
US8954195B2 (en) 2012-11-09 2015-02-10 Harris Corporation Hybrid gesture control haptic system
US10105837B2 (en) * 2013-01-25 2018-10-23 The Boeing Company Tracking enabled extended reach tool system and method
US8965620B2 (en) 2013-02-07 2015-02-24 Harris Corporation Systems and methods for controlling movement of unmanned vehicles
JP6040057B2 (en) * 2013-03-01 2016-12-07 コマツNtc株式会社 Two-dimensional movement closed link structure
CN105025835B (en) 2013-03-13 2018-03-02 史赛克公司 A system for objects arranged in an operating room in preparation for the surgical procedure
US9603665B2 (en) 2013-03-13 2017-03-28 Stryker Corporation Systems and methods for establishing virtual constraint boundaries
KR20140117858A (en) * 2013-03-27 2014-10-08 삼성전자주식회사 Endoscope apparatus
US10176727B2 (en) 2013-05-21 2019-01-08 Simbionix Ltd. Medical simulation system
US9557813B2 (en) 2013-06-28 2017-01-31 Tactus Technology, Inc. Method for reducing perceived optical distortion
US9582072B2 (en) 2013-09-17 2017-02-28 Medibotics Llc Motion recognition clothing [TM] with flexible electromagnetic, light, or sonic energy pathways
US9588582B2 (en) 2013-09-17 2017-03-07 Medibotics Llc Motion recognition clothing (TM) with two different sets of tubes spanning a body joint
US9128507B2 (en) 2013-12-30 2015-09-08 Harris Corporation Compact haptic interface
WO2015109251A1 (en) * 2014-01-17 2015-07-23 Truinject Medical Corp. Injection site training system
EP2990005B1 (en) * 2014-08-31 2017-06-21 Fundacja Rozwoju Kardiochirurgii Im. Prof. Zbigniewa Religi A manipulator of a medical device
US9716735B2 (en) * 2015-02-18 2017-07-25 Viasat, Inc. In-transport multi-channel media delivery
CN105434015B (en) * 2015-12-19 2017-10-24 山东省文登整骨医院 A Neural anesthesia needle positioning means
CN106373471B (en) * 2016-09-29 2018-11-20 浙江大学 One kind of force feedback training simulation apparatus surgical needle

Citations (45)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2906179A (en) * 1957-01-28 1959-09-29 North American Aviation Inc Vector gage
US3490059A (en) * 1966-06-06 1970-01-13 Martin Marietta Corp Three axis mounting and torque sensing apparatus
US3795150A (en) * 1972-12-13 1974-03-05 Us Air Force System for rapidly positioning gimbaled objects
US3875488A (en) * 1973-02-15 1975-04-01 Raytheon Co Inertially stabilized gimbal platform
US3890958A (en) * 1974-04-08 1975-06-24 Moog Automotive Inc Physiological diagnostic apparatus
US3919691A (en) * 1971-05-26 1975-11-11 Bell Telephone Labor Inc Tactile man-machine communication system
US3944798A (en) * 1974-04-18 1976-03-16 Eaton-Leonard Corporation Method and apparatus for measuring direction
US4125800A (en) * 1975-09-02 1978-11-14 Contraves Gorez Corporation Power controller with a modular power output
US4148014A (en) * 1977-04-06 1979-04-03 Texas Instruments Incorporated System with joystick to control velocity vector of a display cursor
US4216467A (en) * 1977-12-22 1980-08-05 Westinghouse Electric Corp. Hand controller
US4391282A (en) * 1979-10-24 1983-07-05 Olympus Optical Company Limited Coeliac cavity ultrasonic diagnosis apparatus
US4398889A (en) * 1980-11-07 1983-08-16 Fokker B.V. Flight simulator
US4436188A (en) * 1981-11-18 1984-03-13 Jones Cecil R Controlled motion apparatus
US4604016A (en) * 1983-08-03 1986-08-05 Joyce Stephen A Multi-dimensional force-torque hand controller having force feedback
US4775289A (en) * 1987-09-25 1988-10-04 Regents Of The University Of Minnesota Statically-balanced direct-drive robot arm
US4896554A (en) * 1987-11-03 1990-01-30 Culver Craig F Multifunction tactile manipulatable control
US4961038A (en) * 1989-10-16 1990-10-02 General Electric Company Torque estimator for switched reluctance machines
US4962448A (en) * 1988-09-30 1990-10-09 Demaio Joseph Virtual pivot handcontroller
GB2254911A (en) * 1991-04-20 1992-10-21 Ind Limited W Haptic computer input/output device, eg data glove.
US5193963A (en) * 1990-10-31 1993-03-16 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Force reflecting hand controller
WO1994000052A1 (en) * 1992-06-30 1994-01-06 Cardiovascular Imaging Systems, Inc. Automated position translator for ultrasonic imaging probe
WO1994026167A1 (en) * 1993-05-14 1994-11-24 Sri International Remote center positioner
WO1995002233A1 (en) * 1993-07-06 1995-01-19 Cybernet Systems Corporation Method and system for simulating medical procedures including virtual reality and control method and system for use therein
WO1995002801A1 (en) * 1993-07-16 1995-01-26 Immersion Human Interface Three-dimensional mechanical mouse
WO1995010080A1 (en) * 1993-10-01 1995-04-13 Massachusetts Institute Of Technology Force reflecting haptic interface
WO1995020787A1 (en) * 1994-01-27 1995-08-03 Exos, Inc. Multimode feedback display technology
US5482051A (en) * 1994-03-10 1996-01-09 The University Of Akron Electromyographic virtual reality system
US5491477A (en) * 1993-09-13 1996-02-13 Apple Computer, Inc. Anti-rotation mechanism for direct manipulation position input controller for computer
WO1996039994A1 (en) * 1995-06-07 1996-12-19 Gore Hybrid Technologies, Inc. An implantable containment apparatus for a therapeutical device and method for loading and reloading the device therein
WO1996039944A1 (en) * 1995-06-07 1996-12-19 Sri International Surgical manipulator for a telerobotic system
US5643087A (en) * 1994-05-19 1997-07-01 Microsoft Corporation Input device including digital force feedback apparatus
US5656901A (en) * 1994-04-22 1997-08-12 Kokusai Dengyo Co., Ltd. Reaction force generating apparatus
US5666473A (en) * 1992-10-08 1997-09-09 Science & Technology Corporation & Unm Tactile computer aided sculpting device
US5666138A (en) * 1994-11-22 1997-09-09 Culver; Craig F. Interface control
US5691898A (en) * 1995-09-27 1997-11-25 Immersion Human Interface Corp. Safe and low cost computer peripherals with force feedback for consumer applications
US5721566A (en) * 1995-01-18 1998-02-24 Immersion Human Interface Corp. Method and apparatus for providing damping force feedback
US5731804A (en) * 1995-01-18 1998-03-24 Immersion Human Interface Corp. Method and apparatus for providing high bandwidth, low noise mechanical I/O for computer systems
US5734373A (en) * 1993-07-16 1998-03-31 Immersion Human Interface Corporation Method and apparatus for controlling force feedback interface systems utilizing a host computer
US5739811A (en) * 1993-07-16 1998-04-14 Immersion Human Interface Corporation Method and apparatus for controlling human-computer interface systems providing force feedback
US5755577A (en) * 1995-03-29 1998-05-26 Gillio; Robert G. Apparatus and method for recording data of a surgical procedure
US5767839A (en) * 1995-01-18 1998-06-16 Immersion Human Interface Corporation Method and apparatus for providing passive force feedback to human-computer interface systems
US5769640A (en) * 1992-12-02 1998-06-23 Cybernet Systems Corporation Method and system for simulating medical procedures including virtual reality and control method and system for use therein
US5790108A (en) * 1992-10-23 1998-08-04 University Of British Columbia Controller
US5805140A (en) * 1993-07-16 1998-09-08 Immersion Corporation High bandwidth force feedback interface using voice coils and flexures
US5821920A (en) * 1994-07-14 1998-10-13 Immersion Human Interface Corporation Control input device for interfacing an elongated flexible object with a computer system

Family Cites Families (248)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3157853A (en) 1957-12-06 1964-11-17 Hirsch Joseph Tactile communication system
US2972140A (en) 1958-09-23 1961-02-14 Hirsch Joseph Apparatus and method for communication through the sense of touch
GB958325A (en) 1962-07-08 1964-05-21 Communications Patents Ltd Improvements in or relating to ground-based flight training or simulating apparatus
US3263824A (en) 1963-12-20 1966-08-02 Northrop Corp Servo controlled manipulator device
US3226846A (en) 1964-12-17 1966-01-04 Wilford C Wood Medical teaching aid
US3497668A (en) 1966-08-25 1970-02-24 Joseph Hirsch Tactile control system
US3517446A (en) 1967-04-19 1970-06-30 Singer General Precision Vehicle trainer controls and control loading
US3531868A (en) 1968-04-18 1970-10-06 Ford Motor Co Surface scanner for measuring the coordinates of points on a three-dimensional surface
US3623064A (en) 1968-10-11 1971-11-23 Bell & Howell Co Paging receiver having cycling eccentric mass
US3520060A (en) 1969-07-01 1970-07-14 Us Health Education & Welfare Dental x-ray teaching and training replica
US3903614A (en) 1970-03-27 1975-09-09 Singer Co Apparatus for simulating aircraft control loading
US3775865A (en) 1972-07-24 1973-12-04 R Rowan Simulator for teaching suturing techniques
SE368369B (en) 1972-10-18 1974-07-01 Saab Scania Ab
US3902687A (en) 1973-06-25 1975-09-02 Robert E Hightower Aircraft indicator system
US3923166A (en) 1973-10-11 1975-12-02 Nasa Remote manipulator system
US4046262A (en) 1974-01-24 1977-09-06 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Anthropomorphic master/slave manipulator system
US3911416A (en) 1974-08-05 1975-10-07 Motorola Inc Silent call pager
US4464117A (en) 1980-08-27 1984-08-07 Dr. Ing. Reiner Foerst Gmbh Driving simulator apparatus
US4052981A (en) 1976-08-03 1977-10-11 Bachmann Robert J Massaging method and apparatus
US4160508A (en) 1977-08-19 1979-07-10 Nasa Controller arm for a remotely related slave arm
US4127752A (en) 1977-10-13 1978-11-28 Sheldahl, Inc. Tactile touch switch panel
FR2416094A1 (en) 1978-02-01 1979-08-31 Zarudiansky Alain Handling device distance
US4262549A (en) 1978-05-10 1981-04-21 Schwellenbach Donald D Variable mechanical vibrator
US4236325A (en) 1978-12-26 1980-12-02 The Singer Company Simulator control loading inertia compensator
US4423428A (en) 1979-11-27 1983-12-27 Shigeo Kuwabara Pencil head for automatic drawing instrument
US4321047A (en) 1980-06-05 1982-03-23 Bradley Landis Simulator and process for teaching surgical knot tying techniques
US4360345A (en) 1980-07-14 1982-11-23 American Heart Association, Inc. Health education system
US4638798A (en) 1980-09-10 1987-01-27 Shelden C Hunter Stereotactic method and apparatus for locating and treating or removing lesions
US4403756A (en) 1980-12-22 1983-09-13 The Boeing Company Bifurcated feel simulator for aircraft
US4333070A (en) 1981-02-06 1982-06-01 Barnes Robert W Motor vehicle fuel-waste indicator
JPS6361609B2 (en) 1981-04-13 1988-11-29
US4599070A (en) 1981-07-29 1986-07-08 Control Interface Company Limited Aircraft simulator and simulated control system therefor
ES260340Y (en) 1981-08-31 1982-10-16 Learning device for endoscopes
FR2512570B1 (en) 1981-09-09 1983-10-28 Commissariat Energie Atomique
US4382166A (en) 1981-12-03 1983-05-03 Wico Corporation Joystick with built-in fire button
US4439162A (en) 1982-01-21 1984-03-27 George Blaine Training manikin for medical instruction
DE3382431D1 (en) 1982-01-22 1991-11-14 British Aerospace Steuerungsgeraet.
US4426607A (en) 1982-03-12 1984-01-17 Sperry Corporation Differential linkage apparatus for an aircraft series servoactuator apparatus
US4484191A (en) 1982-06-14 1984-11-20 Vavra George S Tactile signaling systems for aircraft
US4477973A (en) 1982-07-14 1984-10-23 Micro Control Systems, Inc. Three dimensional graphics tablet
US4593470A (en) 1982-07-14 1986-06-10 Micro Control Systems, Inc. Portable three dimensional graphics tablet
US4473725A (en) 1982-10-26 1984-09-25 Wico Corporation Modular joystick controller
US4477043A (en) 1982-12-15 1984-10-16 The United States Of America As Represented By The Secretary Of The Air Force Biodynamic resistant control stick
US4538035A (en) 1983-02-11 1985-08-27 Pool Danny J Joystick occlusion gate control for video games
US4459440A (en) 1983-03-21 1984-07-10 Wico Corporation Joystick and switch assembly therefor
FR2545606B1 (en) 1983-05-06 1985-09-13 Hispano Suiza Sa Sensor forces torsor
US4655673A (en) 1983-05-10 1987-04-07 Graham S. Hawkes Apparatus providing tactile feedback to operators of remotely controlled manipulators
US4648782A (en) 1983-05-27 1987-03-10 Kraft Brett W Underwater manipulator system
US4489304A (en) 1983-07-22 1984-12-18 Hayes Charles L Spring disconnect mechanism for self centering multiple axis analog control stick
JPS60170709A (en) 1984-02-16 1985-09-04 Toshiba Corp Measuring insturment for shape
US4799055A (en) 1984-04-26 1989-01-17 Symbolics Inc. Optical Mouse
US4581491A (en) 1984-05-04 1986-04-08 Research Corporation Wearable tactile sensory aid providing information on voice pitch and intonation patterns
US4688983A (en) 1984-05-21 1987-08-25 Unimation Inc. Low cost robot
US4603284A (en) 1984-06-05 1986-07-29 Unimation, Inc. Control system for manipulator apparatus with resolved compliant motion control
US4676002A (en) 1984-06-25 1987-06-30 Slocum Alexander H Mechanisms to determine position and orientation in space
US4794384A (en) 1984-09-27 1988-12-27 Xerox Corporation Optical translator device
US4632341A (en) 1985-02-06 1986-12-30 The United States Of America As Represented By The Secretary Of The Air Force Stabilizing force feedback in bio-actuated control systems
US4712971A (en) 1985-02-13 1987-12-15 The Charles Stark Draper Laboratory, Inc. Control arm assembly
JPH0553587B2 (en) 1985-06-06 1993-08-10 Toyota Motor Co Ltd
US4664130A (en) 1985-06-06 1987-05-12 Diagnospine Research Inc. Method and equipment for the detection of mechanical injuries in the lumbar spine of a patient
US5078152A (en) 1985-06-23 1992-01-07 Loredan Biomedical, Inc. Method for diagnosis and/or training of proprioceptor feedback capabilities in a muscle and joint system of a human patient
US4642055A (en) 1985-06-24 1987-02-10 Saliterman Steven S Hemodynamic monitoring trainer
DE3523188A1 (en) 1985-06-28 1987-01-08 Zeiss Carl Fa Control units for coordinate measuring geraete
US4685464A (en) 1985-07-05 1987-08-11 Nellcor Incorporated Durable sensor for detecting optical pulses
US4679331A (en) 1985-08-26 1987-07-14 Ppg Industries, Inc. Apparatus and method for determining contour characteristics of a contoured article
US4680519A (en) 1985-09-23 1987-07-14 General Electric Co. Recursive methods for world-to-joint transformation for a robot manipulator
JPS6281570A (en) 1985-10-04 1987-04-15 Mitsubishi Electric Corp Speed detector
US4713007A (en) 1985-10-11 1987-12-15 Alban Eugene P Aircraft controls simulator
JP2508626B2 (en) * 1985-10-17 1996-06-19 三菱電機株式会社 The magnetic head positioning mechanism
US5275174B1 (en) 1985-10-30 1998-08-04 Jonathan A Cook Repetitive strain injury assessment
US4652805A (en) 1985-11-04 1987-03-24 Allen-Bradley Company, Inc. Tactile feedback apparatus for rotary manual input
NL8503096A (en) 1985-11-11 1987-06-01 Fokker Bv Simulator of mechanical properties of a system.
US4934694A (en) 1985-12-06 1990-06-19 Mcintosh James L Computer controlled exercise system
US5103404A (en) 1985-12-06 1992-04-07 Tensor Development, Inc. Feedback for a manipulator
US4891764A (en) 1985-12-06 1990-01-02 Tensor Development Inc. Program controlled force measurement and control system
US4811608A (en) 1985-12-18 1989-03-14 Spatial Systems Pty Limited Force and torque converter
US5591924A (en) 1985-12-18 1997-01-07 Spacetec Imc Corporation Force and torque converter
JPH085018B2 (en) 1986-02-26 1996-01-24 株式会社日立製作所 Remote Manipiyure - Chillon method and apparatus
US4724715A (en) 1986-04-30 1988-02-16 Culver Craig F Control mechanism for computer keyboard and the like
US4787051A (en) 1986-05-16 1988-11-22 Tektronix, Inc. Inertial mouse system
SU1777207A1 (en) 1986-05-19 1992-11-23 Bruss G Univ Im V I Leni Device for remote transfer of shaft angle of turn
US4803413A (en) 1986-07-15 1989-02-07 Honeywell Inc. Magnetic isolating and pointing gimbal apparatus
US4791934A (en) 1986-08-07 1988-12-20 Picker International, Inc. Computer tomography assisted stereotactic surgery system and method
SE464855B (en) 1986-09-29 1991-06-24 Asea Ab Foerfarande at an industrial Foer calibrating a sensor
US4689449A (en) 1986-10-03 1987-08-25 Massachusetts Institute Of Technology Tremor suppressing hand controls
NL8602697A (en) 1986-10-27 1988-05-16 Huka Bv Developments Joystick.
DE3637410C2 (en) 1986-11-03 1989-09-07 Fa. Carl Zeiss, 7920 Heidenheim, De
US4795296A (en) 1986-11-17 1989-01-03 California Institute Of Technology Hand-held robot end effector controller having movement and force control
US4750487A (en) 1986-11-24 1988-06-14 Zanetti Paul H Stereotactic frame
US4726772A (en) 1986-12-01 1988-02-23 Kurt Amplatz Medical simulator
CA1299362C (en) 1986-12-10 1992-04-28 Gregory James Mcdonald Coordinate measuring system
JPH0829509B2 (en) 1986-12-12 1996-03-27 株式会社日立製作所 Manipiyure - other control device
US4885585A (en) 1986-12-23 1989-12-05 Analog Devices, Inc. Ramp generator reset circuit
US4945501A (en) 1987-01-20 1990-07-31 The Warner & Swasey Company Method for determining position within the measuring volume of a coordinate measuring machine and the like and system therefor
US4819195A (en) 1987-01-20 1989-04-04 The Warner & Swasey Company Method for calibrating a coordinate measuring machine and the like and system therefor
US4800721A (en) 1987-02-13 1989-01-31 Caterpillar Inc. Force feedback lever
US4831531A (en) 1987-02-20 1989-05-16 Sargent Industries, Inc. System for the performance of activity in space
US4794392A (en) 1987-02-20 1988-12-27 Motorola, Inc. Vibrator alert device for a communication receiver
US5018922A (en) 1987-03-26 1991-05-28 Kabushiki Kaisha Komatsu Seisakusho Master/slave type manipulator
US4961138A (en) 1987-05-01 1990-10-02 General Datacomm, Inc. System and apparatus for providing three dimensions of input into a host processor
IT1214292B (en) 1987-05-05 1990-01-10 Garda Impianti Srl Apparatus for measuring and / or checking the position edella orientation of points or zones characteristics of structures, in particular motor-vehicle bodies.
US4868549A (en) 1987-05-18 1989-09-19 International Business Machines Corporation Feedback mouse
US4758692A (en) 1987-05-19 1988-07-19 Otto Engineering, Inc. Joystick type control device
DE3717459A1 (en) 1987-05-23 1988-12-01 Zeiss Carl Fa Hand-held coordinate measuring
US4874998A (en) 1987-06-11 1989-10-17 International Business Machines Corporation Magnetically levitated fine motion robot wrist with programmable compliance
US4811921A (en) 1987-06-22 1989-03-14 Whitaker Charles N Cyclic control stick
US4773865A (en) 1987-06-26 1988-09-27 Baldwin Jere F Training mannequin
US4789340A (en) 1987-08-18 1988-12-06 Zikria Bashir A Surgical student teaching aid
US4841762A (en) 1987-10-27 1989-06-27 Automatix Incorporated Symmetry calibration method for multi-configuration robots
DE3740070A1 (en) 1987-11-26 1989-06-08 Zeiss Carl Fa Rotary-swivel-device for probes of coordinate measuring DEVICES
US5189806A (en) 1988-12-19 1993-03-02 Renishaw Plc Method of and apparatus for scanning the surface of a workpiece
GB8729638D0 (en) 1987-12-19 1988-02-03 Renishaw Plc Mounting for surface sensing device
US5251127A (en) 1988-02-01 1993-10-05 Faro Medical Technologies Inc. Computer-aided surgery apparatus
GB8803847D0 (en) 1988-02-18 1988-03-16 Renishaw Plc Mounting for surface-sensing device
SE461548B (en) 1988-02-18 1990-02-26 Johansson Ab C E Foerfarande and apparatus foer bestaemning and correction of foer laegesfel maetning at a point læge or when positioning to a point having a bestaemt læge
US4925312A (en) 1988-03-21 1990-05-15 Staubli International Ag Robot control system having adaptive feedforward torque control for improved accuracy
US5038089A (en) 1988-03-23 1991-08-06 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Synchronized computational architecture for generalized bilateral control of robot arms
US4907970A (en) 1988-03-30 1990-03-13 Grumman Aerospace Corporation Sidestick-type thrust control simulator
US4861269A (en) 1988-03-30 1989-08-29 Grumman Aerospace Corporation Sidestick flight control simulator
US4825157A (en) 1988-05-16 1989-04-25 Mikan Peter J Hall-effect controller
US4878374A (en) 1988-05-20 1989-11-07 Nelson Richard E Five bar linkage mechanism
US4885565A (en) 1988-06-01 1989-12-05 General Motors Corporation Touchscreen CRT with tactile feedback
US4857881A (en) 1988-07-08 1989-08-15 Hayes Technology Joystick with spring disconnect
US5050608A (en) 1988-07-12 1991-09-24 Medirand, Inc. System for indicating a position to be operated in a patient's body
US5116180A (en) 1988-07-18 1992-05-26 Spar Aerospace Limited Human-in-the-loop machine control loop
US4986280A (en) 1988-07-20 1991-01-22 Arthur D. Little, Inc. Hand position/measurement control system
US4825872A (en) 1988-08-05 1989-05-02 Critikon, Inc. Finger sensor for pulse oximetry system
US4907973A (en) 1988-11-14 1990-03-13 Hon David C Expert system simulator for modeling realistic internal environments and performance
US4930770A (en) 1988-12-01 1990-06-05 Baker Norman A Eccentrically loaded computerized positive/negative exercise machine
US5068529A (en) 1988-12-22 1991-11-26 Nikon Corporation Absolute position detection encoder
US5044956A (en) 1989-01-12 1991-09-03 Atari Games Corporation Control device such as a steering wheel for video vehicle simulator with realistic feedback forces
US5116051A (en) 1989-01-12 1992-05-26 Atari Games Corporation Strain gauge pressure-sensitive video game control
US5186695A (en) * 1989-02-03 1993-02-16 Loredan Biomedical, Inc. Apparatus for controlled exercise and diagnosis of human performance
US5019761A (en) 1989-02-21 1991-05-28 Kraft Brett W Force feedback control for backhoe
JPH02220106A (en) 1989-02-22 1990-09-03 Okuma Mach Works Ltd Digitization controller containing measuring function
GB8904955D0 (en) 1989-03-03 1989-04-12 Atomic Energy Authority Uk Multi-axis hand controller
GB8906287D0 (en) 1989-03-18 1989-05-04 Renishaw Plc Probe calibration
JP2770982B2 (en) 1989-05-25 1998-07-02 株式会社豊田中央研究所 Cooperative control system of the position and force of Manipiyureta
US5184306A (en) 1989-06-09 1993-02-02 Regents Of The University Of Minnesota Automated high-precision fabrication of objects of complex and unique geometry
US5004391A (en) 1989-08-21 1991-04-02 Rutgers University Portable dextrous force feedback master for robot telemanipulation
JPH07104146B2 (en) 1989-08-29 1995-11-13 株式会社ミツトヨ Turntable scanning control method of the coordinate measuring probe
FR2652180B1 (en) 1989-09-20 1991-12-27 Mallet Jean Laurent A method of modeling a surface and device for its implementation óoeuvre.
US5182557A (en) 1989-09-20 1993-01-26 Semborg Recrob, Corp. Motorized joystick
JP2651251B2 (en) 1989-10-20 1997-09-10 株式会社日立製作所 Mechanism error correction method of scalar type robot
US5209131A (en) 1989-11-03 1993-05-11 Rank Taylor Hobson Metrology
US5126948A (en) 1989-11-08 1992-06-30 Ltv Aerospace And Defense Company Digital position encoder and data optimizer
US5107080A (en) 1989-12-01 1992-04-21 Massachusetts Institute Of Technology Multiple degree of freedom damped hand controls
US5251156A (en) 1990-08-25 1993-10-05 Carl-Zeiss-Stiftung, Heidenheim/Brenz Method and apparatus for non-contact measurement of object surfaces
US5022407A (en) 1990-01-24 1991-06-11 Topical Testing, Inc. Apparatus for automated tactile testing
US5072361A (en) 1990-02-01 1991-12-10 Sarcos Group Force-reflective teleoperation control system
US5184319A (en) 1990-02-02 1993-02-02 Kramer James F Force feedback and textures simulating interface device
DE4005292A1 (en) 1990-02-20 1991-08-22 Zeiss Carl Fa The coordinate
US5035242A (en) 1990-04-16 1991-07-30 David Franklin Method and apparatus for sound responsive tactile stimulation of deaf individuals
US5022384A (en) * 1990-05-14 1991-06-11 Capitol Systems Vibrating/massage chair
US5547382A (en) 1990-06-28 1996-08-20 Honda Giken Kogyo Kabushiki Kaisha Riding simulation system for motorcycles
US5165897A (en) * 1990-08-10 1992-11-24 Tini Alloy Company Programmable tactile stimulator array system and method of operation
US5107719A (en) 1990-08-28 1992-04-28 The University Of Michigan Adjustable robotic mechanism
US5208763A (en) 1990-09-14 1993-05-04 New York University Method and apparatus for determining position and orientation of mechanical objects
JPH04142424A (en) 1990-10-03 1992-05-15 Canon Inc Position detecting device for moving body
WO1992007350A1 (en) 1990-10-15 1992-04-30 National Biomedical Research Foundation Three-dimensional cursor control device
US5223776A (en) 1990-12-31 1993-06-29 Honeywell Inc. Six-degree virtual pivot controller
US5142931A (en) 1991-02-14 1992-09-01 Honeywell Inc. 3 degree of freedom hand controller
US5212473A (en) 1991-02-21 1993-05-18 Typeright Keyboard Corp. Membrane keyboard and method of using same
US5334027A (en) 1991-02-25 1994-08-02 Terry Wherlock Big game fish training and exercise device and method
US5143505A (en) 1991-02-26 1992-09-01 Rutgers University Actuator system for providing force feedback to a dextrous master glove
JPH04275888A (en) 1991-02-28 1992-10-01 Toyoda Mach Works Ltd Indexing device for origin of robot
US5240417A (en) 1991-03-14 1993-08-31 Atari Games Corporation System and method for bicycle riding simulation
JPH06507734A (en) 1991-03-21 1994-09-01
US5187630A (en) 1991-04-03 1993-02-16 Sony Corporation Of America Multi-parameter variable scale rotary switch
US5341459A (en) 1991-05-09 1994-08-23 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Generalized compliant motion primitive
US5266875A (en) 1991-05-23 1993-11-30 Massachusetts Institute Of Technology Telerobotic system
JPH06508222A (en) 1991-05-23 1994-09-14
US5178012A (en) 1991-05-31 1993-01-12 Rockwell International Corporation Twisting actuator accelerometer
US5279309A (en) 1991-06-13 1994-01-18 International Business Machines Corporation Signaling device and method for monitoring positions in a surgical operation
JP2514490B2 (en) 1991-07-05 1996-07-10 株式会社ダイヘン Teaching control method by interlocking the manual operation of the industrial robot
US5185561A (en) 1991-07-23 1993-02-09 Digital Equipment Corporation Torque motor as a tactile feedback device in a computer system
DE69207983T2 (en) 1991-07-27 1996-06-05 Renishaw Transducer Syst Calibration and measurement unit
US5175459A (en) * 1991-08-19 1992-12-29 Motorola, Inc. Low profile vibratory alerting device
US5186629A (en) 1991-08-22 1993-02-16 International Business Machines Corporation Virtual graphics display capable of presenting icons and windows to the blind computer user and method
US5220260A (en) 1991-10-24 1993-06-15 Lex Computer And Management Corporation Actuator having electronically controllable tactile responsiveness
US5271290A (en) 1991-10-29 1993-12-21 United Kingdom Atomic Energy Authority Actuator assembly
SE469158B (en) 1991-11-01 1993-05-24 Nobelpharma Ab Dental avkaenningsanordning intended to anvaendas in connection with control of a workshop equipment
US5228356A (en) 1991-11-25 1993-07-20 Chuang Keh Shih K Variable effort joystick
US5309140A (en) 1991-11-26 1994-05-03 The United States Of America As Represented By The Secretary Of The Navy Feedback system for remotely operated vehicles
US5230623A (en) 1991-12-10 1993-07-27 Radionics, Inc. Operating pointer with interactive computergraphics
CA2062147C (en) 1992-03-02 1995-07-25 Kenji Hara Multi-axial joy stick device
US5589828A (en) 1992-03-05 1996-12-31 Armstrong; Brad A. 6 Degrees of freedom controller with capability of tactile feedback
JP3199130B2 (en) 1992-03-31 2001-08-13 パイオニア株式会社 3-dimensional coordinate input device
FR2691534B1 (en) 1992-05-19 1994-08-26 Moving Magnet Tech Position sensor permanent magnet and hall sensor.
US5437607A (en) * 1992-06-02 1995-08-01 Hwe, Inc. Vibrating massage apparatus
US5551701A (en) 1992-08-19 1996-09-03 Thrustmaster, Inc. Reconfigurable video game controller with graphical reconfiguration display
US5245320A (en) 1992-07-09 1993-09-14 Thrustmaster, Inc. Multiport game card with configurable address
US5428748A (en) 1992-09-24 1995-06-27 National Semiconductor Corporation Method and apparatus for automatically configuring a computer peripheral
US5283970A (en) * 1992-09-25 1994-02-08 Strombecker Corporation Toy guns
US5264768A (en) 1992-10-06 1993-11-23 Honeywell, Inc. Active hand controller feedback loop
US5467289A (en) 1992-10-15 1995-11-14 Mitutoyo Corporation Method of and an apparatus for measuring surface contour
US5397323A (en) 1992-10-30 1995-03-14 International Business Machines Corporation Remote center-of-motion robot for surgery
US5389865A (en) 1992-12-02 1995-02-14 Cybernet Systems Corporation Method and system for providing a tactile virtual reality and manipulator defining an interface device therefor
US5629594A (en) 1992-12-02 1997-05-13 Cybernet Systems Corporation Force feedback system
US5394865A (en) * 1992-12-28 1995-03-07 Salerno; Albert Fiber-view lighted stylet
US5451924A (en) 1993-01-14 1995-09-19 Massachusetts Institute Of Technology Apparatus for providing sensory substitution of force feedback
US5785630A (en) 1993-02-02 1998-07-28 Tectrix Fitness Equipment, Inc. Interactive exercise apparatus
US5690582A (en) * 1993-02-02 1997-11-25 Tectrix Fitness Equipment, Inc. Interactive exercise apparatus
US5412880A (en) 1993-02-23 1995-05-09 Faro Technologies Inc. Method of constructing a 3-dimensional map of a measurable quantity using three dimensional coordinate measuring apparatus
US5611147A (en) 1993-02-23 1997-03-18 Faro Technologies, Inc. Three dimensional coordinate measuring apparatus
US6535794B1 (en) * 1993-02-23 2003-03-18 Faro Technologoies Inc. Method of generating an error map for calibration of a robot or multi-axis machining center
US5402582A (en) 1993-02-23 1995-04-04 Faro Technologies Inc. Three dimensional coordinate measuring apparatus
US5429140A (en) 1993-06-04 1995-07-04 Greenleaf Medical Systems, Inc. Integrated virtual reality rehabilitation system
US5405152A (en) 1993-06-08 1995-04-11 The Walt Disney Company Method and apparatus for an interactive video game with physical feedback
US5396266A (en) 1993-06-08 1995-03-07 Technical Research Associates, Inc. Kinesthetic feedback apparatus and method
US5351692A (en) 1993-06-09 1994-10-04 Capistrano Labs Inc. Laparoscopic ultrasonic probe
US5513100A (en) 1993-06-10 1996-04-30 The University Of British Columbia Velocity controller with force feedback stiffness control
US5466213A (en) 1993-07-06 1995-11-14 Massachusetts Institute Of Technology Interactive robotic therapist
US5436622A (en) * 1993-07-06 1995-07-25 Motorola, Inc. Variable frequency vibratory alert method and structure
SE501410C2 (en) 1993-07-12 1995-02-06 Nobelpharma Ab Method and device in connection with the preparation of the tooth, bridge, etc.
US6697748B1 (en) * 1995-08-07 2004-02-24 Immersion Corporation Digitizing system and rotary table for determining 3-D geometry of an object
US6057828A (en) * 1993-07-16 2000-05-02 Immersion Corporation Method and apparatus for providing force sensations in virtual environments in accordance with host software
US6437771B1 (en) * 1995-01-18 2002-08-20 Immersion Corporation Force feedback device including flexure member between actuator and user object
US5724264A (en) 1993-07-16 1998-03-03 Immersion Human Interface Corp. Method and apparatus for tracking the position and orientation of a stylus and for digitizing a 3-D object
US5625575A (en) 1993-08-03 1997-04-29 Lucent Technologies Inc. Apparatus for modelling interaction of rigid bodies
US5429682A (en) 1993-08-19 1995-07-04 Advanced Robotics Technologies Automated three-dimensional precision coatings application apparatus
DE4330873A1 (en) 1993-09-13 1995-03-16 Zeiss Carl Fa Coordinate measuring instrument with a probe and an electronic system for processing the key signal
US5505003A (en) 1993-10-08 1996-04-09 M&M Precision Systems Corporation Generative measuring system
US5436640A (en) 1993-10-29 1995-07-25 Thrustmaster, Inc. Video game and simulator joystick controller with geared potentiometer actuation
US5397865A (en) 1993-11-15 1995-03-14 Park; Noel S. Digitizing tablet with display and plot capability, and methods of training a user
SE501867C2 (en) 1993-11-15 1995-06-12 Asea Brown Boveri Method and system for calibration of an industrial robot utilizing a spherical calibration body
US5436542A (en) 1994-01-28 1995-07-25 Surgix, Inc. Telescopic camera mount with remotely controlled positioning
US5461797A (en) 1994-04-19 1995-10-31 M&M Precision Systems Corporation Object measuring system
US6160489A (en) * 1994-06-23 2000-12-12 Motorola, Inc. Wireless communication device adapted to generate a plurality of distinctive tactile alert patterns
US5623582A (en) * 1994-07-14 1997-04-22 Immersion Human Interface Corporation Computer interface or control input device for laparoscopic surgical instrument and other elongated mechanical objects
US5575761A (en) * 1994-07-27 1996-11-19 Hajianpour; Mohammed-Ali Massage device applying variable-frequency vibration in a variable pulse sequence
US5510977A (en) 1994-08-02 1996-04-23 Faro Technologies Inc. Method and apparatus for measuring features of a part or item
US6422941B1 (en) * 1994-09-21 2002-07-23 Craig Thorner Universal tactile feedback system for computer video games and simulations
US5570111A (en) 1994-10-03 1996-10-29 International Business Machines Corporation Graphical user interface cursor positioning device having a negative inertia transfer function
US5642469A (en) 1994-11-03 1997-06-24 University Of Washington Direct-drive manipulator for pen-based force display
US5766016A (en) 1994-11-14 1998-06-16 Georgia Tech Research Corporation Surgical simulator and method for simulating surgical procedure
US5589854A (en) 1995-06-22 1996-12-31 Tsai; Ming-Chang Touching feedback device
JP2794087B2 (en) 1995-06-23 1998-09-03 工業技術院長 Computer design support system
US6111577A (en) * 1996-04-04 2000-08-29 Massachusetts Institute Of Technology Method and apparatus for determining forces to be applied to a user through a haptic interface
US5853292A (en) * 1996-05-08 1998-12-29 Gaumard Scientific Company, Inc. Computerized education system for teaching patient care
US5816105A (en) 1996-07-26 1998-10-06 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Three degree of freedom parallel mechanical linkage
US5694013A (en) 1996-09-06 1997-12-02 Ford Global Technologies, Inc. Force feedback haptic interface for a three-dimensional CAD surface
US6024576A (en) * 1996-09-06 2000-02-15 Immersion Corporation Hemispherical, high bandwidth mechanical interface for computer systems
US5828197A (en) 1996-10-25 1998-10-27 Immersion Human Interface Corporation Mechanical interface having multiple grounded actuators
US6020875A (en) 1997-10-31 2000-02-01 Immersion Corporation High fidelity mechanical transmission system and interface device
US6104382A (en) 1997-10-31 2000-08-15 Immersion Corporation Force feedback transmission mechanisms
US6088020A (en) * 1998-08-12 2000-07-11 Mitsubishi Electric Information Technology Center America, Inc. (Ita) Haptic device
US6184868B1 (en) * 1998-09-17 2001-02-06 Immersion Corp. Haptic feedback control devices

Patent Citations (46)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2906179A (en) * 1957-01-28 1959-09-29 North American Aviation Inc Vector gage
US3490059A (en) * 1966-06-06 1970-01-13 Martin Marietta Corp Three axis mounting and torque sensing apparatus
US3919691A (en) * 1971-05-26 1975-11-11 Bell Telephone Labor Inc Tactile man-machine communication system
US3795150A (en) * 1972-12-13 1974-03-05 Us Air Force System for rapidly positioning gimbaled objects
US3875488A (en) * 1973-02-15 1975-04-01 Raytheon Co Inertially stabilized gimbal platform
US3890958A (en) * 1974-04-08 1975-06-24 Moog Automotive Inc Physiological diagnostic apparatus
US3944798A (en) * 1974-04-18 1976-03-16 Eaton-Leonard Corporation Method and apparatus for measuring direction
US4125800A (en) * 1975-09-02 1978-11-14 Contraves Gorez Corporation Power controller with a modular power output
US4148014A (en) * 1977-04-06 1979-04-03 Texas Instruments Incorporated System with joystick to control velocity vector of a display cursor
US4216467A (en) * 1977-12-22 1980-08-05 Westinghouse Electric Corp. Hand controller
US4391282A (en) * 1979-10-24 1983-07-05 Olympus Optical Company Limited Coeliac cavity ultrasonic diagnosis apparatus
US4398889A (en) * 1980-11-07 1983-08-16 Fokker B.V. Flight simulator
US4436188A (en) * 1981-11-18 1984-03-13 Jones Cecil R Controlled motion apparatus
US4604016A (en) * 1983-08-03 1986-08-05 Joyce Stephen A Multi-dimensional force-torque hand controller having force feedback
US4775289A (en) * 1987-09-25 1988-10-04 Regents Of The University Of Minnesota Statically-balanced direct-drive robot arm
US4896554A (en) * 1987-11-03 1990-01-30 Culver Craig F Multifunction tactile manipulatable control
US4962448A (en) * 1988-09-30 1990-10-09 Demaio Joseph Virtual pivot handcontroller
US4961038A (en) * 1989-10-16 1990-10-02 General Electric Company Torque estimator for switched reluctance machines
US5193963A (en) * 1990-10-31 1993-03-16 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Force reflecting hand controller
GB2254911A (en) * 1991-04-20 1992-10-21 Ind Limited W Haptic computer input/output device, eg data glove.
WO1994000052A1 (en) * 1992-06-30 1994-01-06 Cardiovascular Imaging Systems, Inc. Automated position translator for ultrasonic imaging probe
US5666473A (en) * 1992-10-08 1997-09-09 Science & Technology Corporation & Unm Tactile computer aided sculpting device
US5790108A (en) * 1992-10-23 1998-08-04 University Of British Columbia Controller
US5769640A (en) * 1992-12-02 1998-06-23 Cybernet Systems Corporation Method and system for simulating medical procedures including virtual reality and control method and system for use therein
WO1994026167A1 (en) * 1993-05-14 1994-11-24 Sri International Remote center positioner
WO1995002233A1 (en) * 1993-07-06 1995-01-19 Cybernet Systems Corporation Method and system for simulating medical procedures including virtual reality and control method and system for use therein
US5805140A (en) * 1993-07-16 1998-09-08 Immersion Corporation High bandwidth force feedback interface using voice coils and flexures
US5739811A (en) * 1993-07-16 1998-04-14 Immersion Human Interface Corporation Method and apparatus for controlling human-computer interface systems providing force feedback
US5734373A (en) * 1993-07-16 1998-03-31 Immersion Human Interface Corporation Method and apparatus for controlling force feedback interface systems utilizing a host computer
WO1995002801A1 (en) * 1993-07-16 1995-01-26 Immersion Human Interface Three-dimensional mechanical mouse
US5491477A (en) * 1993-09-13 1996-02-13 Apple Computer, Inc. Anti-rotation mechanism for direct manipulation position input controller for computer
WO1995010080A1 (en) * 1993-10-01 1995-04-13 Massachusetts Institute Of Technology Force reflecting haptic interface
WO1995020787A1 (en) * 1994-01-27 1995-08-03 Exos, Inc. Multimode feedback display technology
US5742278A (en) * 1994-01-27 1998-04-21 Microsoft Corporation Force feedback joystick with digital signal processor controlled by host processor
US5482051A (en) * 1994-03-10 1996-01-09 The University Of Akron Electromyographic virtual reality system
US5656901A (en) * 1994-04-22 1997-08-12 Kokusai Dengyo Co., Ltd. Reaction force generating apparatus
US5643087A (en) * 1994-05-19 1997-07-01 Microsoft Corporation Input device including digital force feedback apparatus
US5821920A (en) * 1994-07-14 1998-10-13 Immersion Human Interface Corporation Control input device for interfacing an elongated flexible object with a computer system
US5666138A (en) * 1994-11-22 1997-09-09 Culver; Craig F. Interface control
US5731804A (en) * 1995-01-18 1998-03-24 Immersion Human Interface Corp. Method and apparatus for providing high bandwidth, low noise mechanical I/O for computer systems
US5721566A (en) * 1995-01-18 1998-02-24 Immersion Human Interface Corp. Method and apparatus for providing damping force feedback
US5767839A (en) * 1995-01-18 1998-06-16 Immersion Human Interface Corporation Method and apparatus for providing passive force feedback to human-computer interface systems
US5755577A (en) * 1995-03-29 1998-05-26 Gillio; Robert G. Apparatus and method for recording data of a surgical procedure
WO1996039994A1 (en) * 1995-06-07 1996-12-19 Gore Hybrid Technologies, Inc. An implantable containment apparatus for a therapeutical device and method for loading and reloading the device therein
WO1996039944A1 (en) * 1995-06-07 1996-12-19 Sri International Surgical manipulator for a telerobotic system
US5691898A (en) * 1995-09-27 1997-11-25 Immersion Human Interface Corp. Safe and low cost computer peripherals with force feedback for consumer applications

Non-Patent Citations (28)

* Cited by examiner, † Cited by third party
Title
Bejczy, Antal K., "The Phantom Robot: Predictive Displays for Teleoperation with Time Delay," IEEE 1990, pp. 546-550.
Bejczy, Antal K., The Phantom Robot: Predictive Displays for Teleoperation with Time Delay, IEEE 1990, pp. 546 550. *
Bostrom, M. et al., "Design of An Interactive Lumbar Puncture Simulator With Tactile Feedback," IEEE 0-7803-1363, 1993, pp. 280-286.
Bostrom, M. et al., Design of An Interactive Lumbar Puncture Simulator With Tactile Feedback, IEEE 0 7803 1363, 1993, pp. 280 286. *
Hayward, V. et al., "Design and Multi-Objective Optimization of a Linkage for a Haptic Interface," Advances in Robot Kinematics and Computationed Geometry, 1994, pp. 359-368.
Hayward, V. et al., Design and Multi Objective Optimization of a Linkage for a Haptic Interface, Advances in Robot Kinematics and Computationed Geometry, 1994, pp. 359 368. *
Hirota, Koichi, "Development of Surface Display," IEEE 0-7803-1363, 1993, pp. 256-262.
Hirota, Koichi, Development of Surface Display, IEEE 0 7803 1363, 1993, pp. 256 262. *
Iwata, Hiroo, "Artificial Reality with Force-feedback: Development of Desktop Virtual Space with Compact Master Manipulator", Computer Gra[hics, vol. 24, No. 4, Aug. 1990, pp. 165-170.
Iwata, Hiroo, Artificial Reality with Force feedback: Development of Desktop Virtual Space with Compact Master Manipulator , Computer Gra hics, vol. 24, No. 4, Aug. 1990, pp. 165 170. *
Jacobsen, S.C. et al., "High Peformance, High Dexterity, Force Reflective Teleoperatorn II," ANS Topical Meeting on Robotics & Remote Systems, Albuquerque, New Mexico Feb. 24-27, 1991, pp. 1-10.
Jacobsen, S.C. et al., High Peformance, High Dexterity, Force Reflective Teleoperatorn II, ANS Topical Meeting on Robotics & Remote Systems, Albuquerque, New Mexico Feb. 24 27, 1991, pp. 1 10. *
Kilpatrick, Paul, "The Use of a Kinesthetic Supplement in an Interactive Graphics System", Univ. of North Carolina at Chapel Hill, 1976, pp. 1-175.
Kilpatrick, Paul, The Use of a Kinesthetic Supplement in an Interactive Graphics System , Univ. of North Carolina at Chapel Hill, 1976, pp. 1 175. *
Kotoku, Tetsuo et al., "Environment Modeling for the Interactive Display (EMID) Used in Telerobotic Systems," IEEE Nov. 3-5, 1991, p. 99-1004.
Kotoku, Tetsuo et al., Environment Modeling for the Interactive Display (EMID) Used in Telerobotic Systems, IEEE Nov. 3 5, 1991, p. 99 1004. *
Millman, P. et al., "Design of a Four Degree-of-Freedom Force-Reflecting Manipulandum with a Specified Force/Torque Workspace," Proc. of 1991 IEEE Int'l Conf. on Robotics and Automation, IEEE CH2969-4, 1991, pp. 1488-1493.
Millman, P. et al., Design of a Four Degree of Freedom Force Reflecting Manipulandum with a Specified Force/Torque Workspace, Proc. of 1991 IEEE Int l Conf. on Robotics and Automation, IEEE CH2969 4, 1991, pp. 1488 1493. *
Payette et al., "Evaluation of a Force Feedback (Haptic) Computer Pointing Device in Zero Gravity", DSC-vol. 58, Proceedings of the ASME Dynamics Systems and Control Division, ASME 1996, pp. 547-553
Payette et al., Evaluation of a Force Feedback (Haptic) Computer Pointing Device in Zero Gravity , DSC vol. 58, Proceedings of the ASME Dynamics Systems and Control Division, ASME 1996, pp. 547 553 *
Ramstein, Christophe, "Combining Haptic and Braille Technologies: Design Issues and Pilot Study", Assets '96, 2nd Annual ACM Conf. on Assistive Technologies, ACM SIGRAPH, Apr. 1996, pp. 37-44.
Ramstein, Christophe, "The Pantograph: A Large Workspace Haptic Device for a Multimodal Human-Computer Interaction", Computer-Human Interaction, CHI 1994.
Ramstein, Christophe, Combining Haptic and Braille Technologies: Design Issues and Pilot Study , Assets 96, 2 nd Annual ACM Conf. on Assistive Technologies, ACM SIGRAPH, Apr. 1996, pp. 37 44. *
Ramstein, Christophe, The Pantograph: A Large Workspace Haptic Device for a Multimodal Human Computer Interaction , Computer Human Interaction, CHI 1994. *
Stone, R. et al., "Virtual Environment Training Systems for Laparoscopic Surgery," The Journal of Medicine and Virtual Reality, 1995, pp. 42-51.
Stone, R. et al., Virtual Environment Training Systems for Laparoscopic Surgery, The Journal of Medicine and Virtual Reality, 1995, pp. 42 51. *
Yokohoji, Y. et al., "What you Can See is What You Can Feel--Development of a Visual/Haptic Interface to Virtual Environment," Proceedings of VRAIS '96, IEEE 1996, p. 46-54.
Yokohoji, Y. et al., What you Can See is What You Can Feel Development of a Visual/Haptic Interface to Virtual Environment, Proceedings of VRAIS 96, IEEE 1996, p. 46 54. *

Cited By (228)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6323837B1 (en) 1994-07-14 2001-11-27 Immersion Corporation Method and apparatus for interfacing an elongated object with a computer system
US20040066369A1 (en) * 1994-07-14 2004-04-08 Rosenberg Louis B. Physically realistic computer simulation of medical procedures
US8184094B2 (en) 1994-07-14 2012-05-22 Immersion Corporation Physically realistic computer simulation of medical procedures
US6654000B2 (en) 1994-07-14 2003-11-25 Immersion Corporation Physically realistic computer simulation of medical procedures
USRE37528E1 (en) 1994-11-03 2002-01-22 Immersion Corporation Direct-drive manipulator for pen-based force display
US20020018046A1 (en) * 1995-01-18 2002-02-14 Immersion Corporation Laparoscopic simulation interface
US6278439B1 (en) 1995-12-01 2001-08-21 Immersion Corporation Method and apparatus for shaping force signals for a force feedback device
US8419438B2 (en) 1996-05-08 2013-04-16 Gaumard Scientific Company, Inc. Interactive education system for teaching patient care
US9378659B2 (en) 1996-05-08 2016-06-28 Gaumard Scientific Company, Inc. Interactive education system for teaching patient care
US20080138778A1 (en) * 1996-05-08 2008-06-12 Gaumard Scientific Company, Inc. Interactive Education System for Teaching Patient Care
US8951047B2 (en) 1996-05-08 2015-02-10 Gaumard Scientific Company, Inc. Interactive education system for teaching patient care
US7976312B2 (en) 1996-05-08 2011-07-12 Gaumard Scientific Company, Inc. Interactive education system for teaching patient care
US8016598B2 (en) 1996-05-08 2011-09-13 Gaumard Scientific Company, Inc. Interactive education system for teaching patient care
US8696362B2 (en) 1996-05-08 2014-04-15 Gaumard Scientific Company, Inc. Interactive education system for teaching patient care
US20100304347A1 (en) * 1996-05-08 2010-12-02 Gaumard Scientific Company, Inc. Interactive Education System for Teaching Patient Care
US7811090B2 (en) 1996-05-08 2010-10-12 Gaumard Scientific Company, Inc. Interactive education system for teaching patient care
US8678832B2 (en) 1996-05-08 2014-03-25 Gaumard Scientific Company, Inc. Interactive education system for teaching patient care
US8152532B2 (en) 1996-05-08 2012-04-10 Gaumard Scientific Company, Inc. Interactive education system for teaching patient care
US20080138779A1 (en) * 1996-05-08 2008-06-12 Gaumard Scientific Company, Inc. Interactive Education System for Teaching Patient Care
US20080131855A1 (en) * 1996-05-08 2008-06-05 Gaumard Scientific Company, Inc. Interactive Education System for Teaching Patient Care
US20060194180A1 (en) * 1996-09-06 2006-08-31 Bevirt Joeben Hemispherical high bandwidth mechanical interface for computer systems
US6705871B1 (en) * 1996-09-06 2004-03-16 Immersion Corporation Method and apparatus for providing an interface mechanism for a computer simulation
US7500853B2 (en) * 1996-09-06 2009-03-10 Immersion Corporation Mechanical interface for a computer system
US20040183777A1 (en) * 1996-09-06 2004-09-23 Bevirt Joeben Method and apparatus for providing an interface mechanism for a computer simulation
EP1988446A1 (en) 1997-04-25 2008-11-05 Immersion Corporation Method and apparatus for designing and controlling force sensations in force feedback computer applications
US6256047B1 (en) * 1997-06-04 2001-07-03 Konami Co., Ltd. Method of judging hits and computer-readable storage medium storing game data
US6396232B2 (en) 1997-11-03 2002-05-28 Cybernet Haptic Systems Corporation Haptic pointing devices
US9778745B2 (en) 1997-11-14 2017-10-03 Immersion Corporation Force feedback system including multi-tasking graphical host environment and interface device
US9740287B2 (en) 1997-11-14 2017-08-22 Immersion Corporation Force feedback system including multi-tasking graphical host environment and interface device
US8527873B2 (en) 1997-11-14 2013-09-03 Immersion Corporation Force feedback system including multi-tasking graphical host environment and interface device
US20030063064A1 (en) * 1997-11-14 2003-04-03 Immersion Corporation Force effects for object types in a graphical user interface
US6863536B1 (en) 1998-01-26 2005-03-08 Simbionix Ltd. Endoscopic tutorial system with a bleeding complication
US6857878B1 (en) 1998-01-26 2005-02-22 Simbionix Ltd. Endoscopic tutorial system
US20060122555A1 (en) * 1998-04-10 2006-06-08 Mark Hochman Drug infusion device for neural axial and peripheral nerve tissue identification using exit pressure sensing
US8552982B2 (en) 1998-04-10 2013-10-08 Immersion Corporation Position sensing methods for interface devices
US20040046740A1 (en) * 1998-04-10 2004-03-11 Martin Kenneth M. Position sensing methods for interface devices
US20040075676A1 (en) * 1998-06-23 2004-04-22 Rosenberg Louis B. Haptic feedback for touchpads and other touch controls
US20080068351A1 (en) * 1998-06-23 2008-03-20 Immersion Corporation Haptic feedback for touchpads and other touch control
US7728820B2 (en) 1998-06-23 2010-06-01 Immersion Corporation Haptic feedback for touchpads and other touch controls
US20080062122A1 (en) * 1998-06-23 2008-03-13 Immersion Corporation Haptic feedback for touchpads and other touch controls
US20030038776A1 (en) * 1998-06-23 2003-02-27 Immersion Corporation Haptic feedback for touchpads and other touch controls
US20070229478A1 (en) * 1998-06-23 2007-10-04 Immersion Corporation Haptic feedback for touchpads and other touch controls
US8063893B2 (en) 1998-06-23 2011-11-22 Immersion Corporation Haptic feedback for touchpads and other touch controls
US7944435B2 (en) 1998-06-23 2011-05-17 Immersion Corporation Haptic feedback for touchpads and other touch controls
US7978183B2 (en) 1998-06-23 2011-07-12 Immersion Corporation Haptic feedback for touchpads and other touch controls
US7982720B2 (en) 1998-06-23 2011-07-19 Immersion Corporation Haptic feedback for touchpads and other touch controls
US20080111788A1 (en) * 1998-06-23 2008-05-15 Immersion Corporation Haptic feedback for touchpads and other touch controls
US8031181B2 (en) 1998-06-23 2011-10-04 Immersion Corporation Haptic feedback for touchpads and other touch controls
US8049734B2 (en) 1998-06-23 2011-11-01 Immersion Corporation Haptic feedback for touchpads and other touch control
US8059105B2 (en) 1998-06-23 2011-11-15 Immersion Corporation Haptic feedback for touchpads and other touch controls
US20070040815A1 (en) * 1998-06-23 2007-02-22 Immersion Corporation Haptic feedback for touchpads and other touch controls
US6583783B1 (en) * 1998-08-10 2003-06-24 Deutsches Zentrum Fur Luft- Und Raumfahrt E.V. Process for performing operations using a 3D input device
US20050128186A1 (en) * 1998-09-17 2005-06-16 Shahoian Erik J. Haptic feedback device with button forces
WO2000021071A3 (en) * 1998-09-17 2000-07-13 Immersion Corp Improvements in haptic feedback control devices
US6184868B1 (en) * 1998-09-17 2001-02-06 Immersion Corp. Haptic feedback control devices
WO2000021071A2 (en) * 1998-09-17 2000-04-13 Immersion Corporation Improvements in haptic feedback control devices
US6697044B2 (en) 1998-09-17 2004-02-24 Immersion Corporation Haptic feedback device with button forces
US6538634B1 (en) * 1998-12-18 2003-03-25 Kent Ridge Digital Labs Apparatus for the simulation of image-guided surgery
US6463401B1 (en) * 1999-05-12 2002-10-08 Chu-Yuan Liao Operating/controlling device for computer game
US6781569B1 (en) 1999-06-11 2004-08-24 Immersion Corporation Hand controller
WO2001018617A1 (en) * 1999-09-09 2001-03-15 Rutgers, The State Of University Of New Jersey Remote mechanical mirroring using controlled stiffness and actuators (memica)
US9280205B2 (en) 1999-12-17 2016-03-08 Immersion Corporation Haptic feedback for touchpads and other touch controls
US20080060856A1 (en) * 2000-01-19 2008-03-13 Immersion Corporation Haptic interface for touch screen embodiments
US20080062145A1 (en) * 2000-01-19 2008-03-13 Immersion Corporation Haptic interface for touch screen embodiments
US8063892B2 (en) 2000-01-19 2011-11-22 Immersion Corporation Haptic interface for touch screen embodiments
US20080062144A1 (en) * 2000-01-19 2008-03-13 Immersion Corporation Haptic interface for touch screen embodiments
US8188981B2 (en) 2000-01-19 2012-05-29 Immersion Corporation Haptic interface for touch screen embodiments
US8059104B2 (en) 2000-01-19 2011-11-15 Immersion Corporation Haptic interface for touch screen embodiments
US7976313B2 (en) 2000-08-17 2011-07-12 Gaumard Scientific Company, Inc. Interactive education system for teaching patient care
US20080138780A1 (en) * 2000-08-17 2008-06-12 Gaumard Scientific Company, Inc. Interactive Education System for Teaching Patient Care
US9004922B2 (en) 2000-10-06 2015-04-14 Gaumard Scientific Company, Inc. Interactive education system for teaching patient care
US9406244B2 (en) 2000-10-06 2016-08-02 Gaumard Scientific Company, Inc. Interactive education system for teaching patient care
DE10055292A1 (en) * 2000-11-03 2002-05-29 Storz Karl Gmbh & Co Kg The simulator apparatus with at least two degrees of freedom of movement for an instrument
US20040024418A1 (en) * 2000-11-03 2004-02-05 Irion Klaus M. Simulator apparatus with at least two degrees of freedom of movement for an instrument
US20040101813A1 (en) * 2000-11-03 2004-05-27 Irion Klaus M. Simulator apparatus with at least two degrees of freedom of movement for an instrument
US6786727B2 (en) 2000-11-03 2004-09-07 Karl Storz Gmbh & Co. Kg Simulator apparatus with at least two degrees of freedom of movement for an instrument
US6902405B2 (en) 2000-11-03 2005-06-07 Karl Storz Gmbh & Co. Kg Simulator apparatus with at least two degrees of freedom of movement for an instrument
DE10055294C2 (en) * 2000-11-03 2002-10-31 Storz Karl Gmbh & Co Kg The simulator apparatus with at least two degrees of freedom for use in a real instrument
DE10055292B4 (en) * 2000-11-03 2004-02-12 Karl Storz Gmbh & Co. Kg The simulator apparatus with at least two degrees of freedom for use in a real instrument
DE10055294A1 (en) * 2000-11-03 2002-05-29 Storz Karl Gmbh & Co Kg The simulator apparatus with at least two degrees of freedom of movement for an instrument
WO2002043030A3 (en) * 2000-11-22 2002-09-26 Xitact Sa Device for simulating a rod-shaped surgical instrument with a back-coupling of forces
WO2002043030A2 (en) * 2000-11-22 2002-05-30 Xitact S.A. Device for simulating a rod-shaped surgical instrument with a back-coupling of forces
US8638308B2 (en) 2001-05-04 2014-01-28 Immersion Medical, Inc. Haptic interface for palpation simulation
US20060190823A1 (en) * 2001-05-04 2006-08-24 Immersion Corporation Haptic interface for palpation simulation
US20110148794A1 (en) * 2001-05-04 2011-06-23 Immersion Corporation Haptic Interface for Palpation Simulation
US9501955B2 (en) 2001-05-20 2016-11-22 Simbionix Ltd. Endoscopic ultrasonography simulation
US7209028B2 (en) 2001-06-27 2007-04-24 Immersion Corporation Position sensor with resistive element
US20050162804A1 (en) * 2001-06-27 2005-07-28 Boronkay Allen R. Position sensor with resistive element
US8007282B2 (en) 2001-07-16 2011-08-30 Immersion Corporation Medical simulation interface apparatus and method
US7056123B2 (en) * 2001-07-16 2006-06-06 Immersion Corporation Interface apparatus with cable-driven force feedback and grounded actuators
US20060099560A1 (en) * 2001-07-16 2006-05-11 Immersion Corporation Interface apparatus with cable-driven force feedback and four grounded actuators
US20090009492A1 (en) * 2001-07-16 2009-01-08 Immersion Corporation Medical Simulation Interface Apparatus And Method
US20030068607A1 (en) * 2001-07-16 2003-04-10 Immersion Corporation Interface apparatus with cable-driven force feedback and four grounded actuators
US8696363B2 (en) * 2001-10-02 2014-04-15 Keymed (Medical & Industrial Equipment) Limited Method and apparatus for simulation of an endoscopy operation
US20040248072A1 (en) * 2001-10-02 2004-12-09 Gray Roger Leslie Method and apparatus for simulation of an endoscopy operation
WO2003050783A1 (en) * 2001-12-11 2003-06-19 Keymed (Medical And Industrial Equipment) Ltd An apparatus for use in training an operator in the use of an endoscope system
FR2835579A1 (en) * 2002-02-04 2003-08-08 Commissariat Energie Atomique A displacement of spherical element
WO2003066288A1 (en) * 2002-02-04 2003-08-14 Commissariat A L'energie Atomique Device for the spherical displacement of an element
US8830161B2 (en) 2002-12-08 2014-09-09 Immersion Corporation Methods and systems for providing a virtual touch haptic effect to handheld communication devices
US8316166B2 (en) 2002-12-08 2012-11-20 Immersion Corporation Haptic messaging in handheld communication devices
US8803795B2 (en) 2002-12-08 2014-08-12 Immersion Corporation Haptic communication devices
US8059088B2 (en) 2002-12-08 2011-11-15 Immersion Corporation Methods and systems for providing haptic messaging to handheld communication devices
US20070057913A1 (en) * 2002-12-08 2007-03-15 Immersion Corporation, A Delaware Corporation Methods and systems for providing haptic messaging to handheld communication devices
US20090021473A1 (en) * 2002-12-08 2009-01-22 Grant Danny A Haptic Communication Devices
US7089949B1 (en) * 2003-04-17 2006-08-15 The United States Of America As Represented By The Secretary Of The Navy Apparatus for maneuvering a device within the interior of storage tanks
US7850456B2 (en) 2003-07-15 2010-12-14 Simbionix Ltd. Surgical simulation device, system and method
US9324247B2 (en) 2003-11-25 2016-04-26 Gaumard Scientific Company, Inc. Interactive education system for teaching patient care
US20050134562A1 (en) * 2003-12-22 2005-06-23 Grant Danny A. System and method for controlling haptic devices having multiple operational modes
US7742036B2 (en) 2003-12-22 2010-06-22 Immersion Corporation System and method for controlling haptic devices having multiple operational modes
US20050183532A1 (en) * 2004-02-25 2005-08-25 University Of Manitoba Hand controller and wrist device
US7204168B2 (en) 2004-02-25 2007-04-17 The University Of Manitoba Hand controller and wrist device
US20050214726A1 (en) * 2004-03-23 2005-09-29 David Feygin Vascular-access simulation system with receiver for an end effector
EP1766596A4 (en) * 2004-06-14 2011-06-22 Medical Simulation Corp Medical simulation system and method
US7862340B2 (en) 2004-06-14 2011-01-04 Medical Simulation Corporation Medical simulation system and method
WO2005124723A3 (en) * 2004-06-14 2007-05-18 Medical Simulation Corp Medical simulation system and method
US20100021875A1 (en) * 2004-06-14 2010-01-28 Medical Simulation Corporation Medical Simulation System and Method
US20090111080A1 (en) * 2004-06-14 2009-04-30 Medical Simulation Corporation Medical simulation system and method
US8062038B2 (en) 2004-06-14 2011-11-22 Medical Simulation Corporation Medical simulation system and method
US7455523B2 (en) 2004-06-14 2008-11-25 Medical Simulation Corporation Medical simulation system and method
EP1766596A2 (en) * 2004-06-14 2007-03-28 Medical Simulation Corporation Medical simulation system and method
US20050277096A1 (en) * 2004-06-14 2005-12-15 Hendrickson Daniel L Medical simulation system and method
US8616894B2 (en) * 2004-09-21 2013-12-31 Karl Storz Gmbh & Co. Kg Virtual operation simulator
US20060073458A1 (en) * 2004-09-21 2006-04-06 Andre Ehrhardt Virtual OP simulator
US20090095108A1 (en) * 2004-12-20 2009-04-16 Shahram Payandeh Spherical linkage and force feedback controls
US8371187B2 (en) * 2004-12-20 2013-02-12 Simon Fraser University Spherical linkage and force feedback controls
US9509269B1 (en) 2005-01-15 2016-11-29 Google Inc. Ambient sound responsive media player
US20060161621A1 (en) * 2005-01-15 2006-07-20 Outland Research, Llc System, method and computer program product for collaboration and synchronization of media content on a plurality of media players
US20060167943A1 (en) * 2005-01-27 2006-07-27 Outland Research, L.L.C. System, method and computer program product for rejecting or deferring the playing of a media file retrieved by an automated process
US20070276870A1 (en) * 2005-01-27 2007-11-29 Outland Research, Llc Method and apparatus for intelligent media selection using age and/or gender
US7542816B2 (en) 2005-01-27 2009-06-02 Outland Research, Llc System, method and computer program product for automatically selecting, suggesting and playing music media files
US7489979B2 (en) 2005-01-27 2009-02-10 Outland Research, Llc System, method and computer program product for rejecting or deferring the playing of a media file retrieved by an automated process
US20060167576A1 (en) * 2005-01-27 2006-07-27 Outland Research, L.L.C. System, method and computer program product for automatically selecting, suggesting and playing music media files
US20060173828A1 (en) * 2005-02-01 2006-08-03 Outland Research, Llc Methods and apparatus for using personal background data to improve the organization of documents retrieved in response to a search query
US20060173556A1 (en) * 2005-02-01 2006-08-03 Outland Research,. Llc Methods and apparatus for using user gender and/or age group to improve the organization of documents retrieved in response to a search query
US20060179044A1 (en) * 2005-02-04 2006-08-10 Outland Research, Llc Methods and apparatus for using life-context of a user to improve the organization of documents retrieved in response to a search query from that user
US8806974B2 (en) * 2005-02-11 2014-08-19 Novint Technologies, Inc. Device for transmitting movements and components thereof
US20080223165A1 (en) * 2005-02-11 2008-09-18 Patrick Helmer Device For Transmitting Movements and Components Thereof
US20060253210A1 (en) * 2005-03-26 2006-11-09 Outland Research, Llc Intelligent Pace-Setting Portable Media Player
US20060223637A1 (en) * 2005-03-31 2006-10-05 Outland Research, Llc Video game system combining gaming simulation with remote robot control and remote robot feedback
US20060223635A1 (en) * 2005-04-04 2006-10-05 Outland Research method and apparatus for an on-screen/off-screen first person gaming experience
US20060241864A1 (en) * 2005-04-22 2006-10-26 Outland Research, Llc Method and apparatus for point-and-send data transfer within an ubiquitous computing environment
US20060259574A1 (en) * 2005-05-13 2006-11-16 Outland Research, Llc Method and apparatus for accessing spatially associated information
US20060256007A1 (en) * 2005-05-13 2006-11-16 Outland Research, Llc Triangulation method and apparatus for targeting and accessing spatially associated information
US20060256008A1 (en) * 2005-05-13 2006-11-16 Outland Research, Llc Pointing interface for person-to-person information exchange
US20060271286A1 (en) * 2005-05-27 2006-11-30 Outland Research, Llc Image-enhanced vehicle navigation systems and methods
US20070150188A1 (en) * 2005-05-27 2007-06-28 Outland Research, Llc First-person video-based travel planning system
US20060186197A1 (en) * 2005-06-16 2006-08-24 Outland Research Method and apparatus for wireless customer interaction with the attendants working in a restaurant
US7519537B2 (en) 2005-07-19 2009-04-14 Outland Research, Llc Method and apparatus for a verbo-manual gesture interface
US20080132313A1 (en) * 2005-09-08 2008-06-05 Rasmussen James M Gaming machine having display with sensory feedback
US8500534B2 (en) 2005-09-08 2013-08-06 Wms Gaming Inc. Gaming machine having display with sensory feedback
US8882575B2 (en) 2005-09-08 2014-11-11 Wms Gaming Inc. Gaming machine having display with sensory feedback
US7562117B2 (en) 2005-09-09 2009-07-14 Outland Research, Llc System, method and computer program product for collaborative broadcast media
US20060288074A1 (en) * 2005-09-09 2006-12-21 Outland Research, Llc System, Method and Computer Program Product for Collaborative Broadcast Media
US8745104B1 (en) 2005-09-23 2014-06-03 Google Inc. Collaborative rejection of media for physical establishments
US8762435B1 (en) 2005-09-23 2014-06-24 Google Inc. Collaborative rejection of media for physical establishments
US7917148B2 (en) 2005-09-23 2011-03-29 Outland Research, Llc Social musical media rating system and method for localized establishments
US20080032723A1 (en) * 2005-09-23 2008-02-07 Outland Research, Llc Social musical media rating system and method for localized establishments
US20060195361A1 (en) * 2005-10-01 2006-08-31 Outland Research Location-based demographic profiling system and method of use
US20080032719A1 (en) * 2005-10-01 2008-02-07 Outland Research, Llc Centralized establishment-based tracking and messaging service
US20070083323A1 (en) * 2005-10-07 2007-04-12 Outland Research Personal cuing for spatially associated information
US7586032B2 (en) 2005-10-07 2009-09-08 Outland Research, Llc Shake responsive portable media player
US20070125852A1 (en) * 2005-10-07 2007-06-07 Outland Research, Llc Shake responsive portable media player
US20060179056A1 (en) * 2005-10-12 2006-08-10 Outland Research Enhanced storage and retrieval of spatially associated information
US20070103437A1 (en) * 2005-10-26 2007-05-10 Outland Research, Llc Haptic metering for minimally invasive medical procedures
US20060229058A1 (en) * 2005-10-29 2006-10-12 Outland Research Real-time person-to-person communication using geospatial addressing
US20070129888A1 (en) * 2005-12-05 2007-06-07 Outland Research Spatially associated personal reminder system and method
US20060227047A1 (en) * 2005-12-13 2006-10-12 Outland Research Meeting locator system and method of using the same
US20070145680A1 (en) * 2005-12-15 2007-06-28 Outland Research, Llc Shake Responsive Portable Computing Device for Simulating a Randomization Object Used In a Game Of Chance
US20070075127A1 (en) * 2005-12-21 2007-04-05 Outland Research, Llc Orientation-based power conservation for portable media devices
US20070173789A1 (en) * 2006-01-25 2007-07-26 Schena Bruce M Robotic arm with five-bar spherical linkage
US20070173788A1 (en) * 2006-01-25 2007-07-26 Schena Bruce M Robotic arm with five-bar spherical linkage
US9907458B2 (en) * 2006-01-25 2018-03-06 Intuitive Surgical Operations, Inc. Center robotic arm with five-bar spherical linkage for endoscopic camera
US8142420B2 (en) 2006-01-25 2012-03-27 Intuitive Surgical Operations Inc. Robotic arm with five-bar spherical linkage
US8167873B2 (en) 2006-01-25 2012-05-01 Intuitive Surgical Operations, Inc. Center robotic arm with five-bar spherical linkage for endoscopic camera
US8506556B2 (en) 2006-01-25 2013-08-13 Intuitive Surgical Operations, Inc. Robotic arm with five-bar spherical linkage
US8167872B2 (en) 2006-01-25 2012-05-01 Intuitive Surgical Operations, Inc. Center robotic arm with five-bar spherical linkage for endoscopic camera
US20070173976A1 (en) * 2006-01-25 2007-07-26 Schena Bruce M Center robotic arm with five-bar spherical linkage for endoscopic camera
US20070173975A1 (en) * 2006-01-25 2007-07-26 Schena Bruce M Center robotic arm with five-bar spherical linkage for endoscopic camera
US8162926B2 (en) 2006-01-25 2012-04-24 Intuitive Surgical Operations Inc. Robotic arm with five-bar spherical linkage
US20070173977A1 (en) * 2006-01-25 2007-07-26 Schena Bruce M Center robotic arm with five-bar spherical linkage for endoscopic camera
US20130338434A1 (en) * 2006-01-25 2013-12-19 Intuitive Surgical Operations, Inc. Center robotic arm with five-bar spherical linkage for endoscopic camera
US8469945B2 (en) 2006-01-25 2013-06-25 Intuitive Surgical Operations, Inc. Center robotic arm with five-bar spherical linkage for endoscopic camera
US20100160016A1 (en) * 2006-03-31 2010-06-24 Shimabukuro Jorge L Portable Wagering Game With Vibrational Cues and Feedback Mechanism
US8210942B2 (en) 2006-03-31 2012-07-03 Wms Gaming Inc. Portable wagering game with vibrational cues and feedback mechanism
US20140192020A1 (en) * 2006-07-03 2014-07-10 Force Dimension S.A.R.L. Active gripper for haptic devices
US9870720B2 (en) 2006-10-03 2018-01-16 Gaumard Scientific Company, Inc. Interactive education system for teaching patient care
US8543338B2 (en) 2007-01-16 2013-09-24 Simbionix Ltd. System and method for performing computerized simulations for image-guided procedures using a patient specific model
US20090018808A1 (en) * 2007-01-16 2009-01-15 Simbionix Ltd. Preoperative Surgical Simulation
US8500451B2 (en) 2007-01-16 2013-08-06 Simbionix Ltd. Preoperative surgical simulation
US8328560B2 (en) * 2007-12-03 2012-12-11 Endosim Limited Laparoscopic apparatus
US20090176196A1 (en) * 2007-12-03 2009-07-09 Endosim Limited Laparoscopic apparatus
US20090148822A1 (en) * 2007-12-07 2009-06-11 Gaumard Scientific Company, Inc. Interactive Education System for Teaching Patient Care
US20100273134A1 (en) * 2008-01-07 2010-10-28 Chen Weijian Endoscope simulation apparatus and system and method using the same to perform simulation
US8157567B2 (en) * 2008-01-07 2012-04-17 Chen Weijian Endoscope simulation apparatus and system and method using the same to perform simulation
US20100134327A1 (en) * 2008-11-28 2010-06-03 Dinh Vincent Vinh Wireless haptic glove for language and information transference
US20100167820A1 (en) * 2008-12-29 2010-07-01 Houssam Barakat Human interface device
US9921712B2 (en) 2010-12-29 2018-03-20 Mako Surgical Corp. System and method for providing substantially stable control of a surgical tool
US9352468B2 (en) * 2011-03-17 2016-05-31 Eb-Invent Gmbh Manipulator
US20140001318A1 (en) * 2011-03-17 2014-01-02 Eb-Invent Gmbh Manipulator
US9058714B2 (en) 2011-05-23 2015-06-16 Wms Gaming Inc. Wagering game systems, wagering gaming machines, and wagering gaming chairs having haptic and thermal feedback
US9449456B2 (en) 2011-06-13 2016-09-20 Bally Gaming, Inc. Automated gaming chairs and wagering game systems and machines with an automated gaming chair
US9142083B2 (en) 2011-06-13 2015-09-22 Bally Gaming, Inc. Convertible gaming chairs and wagering game systems and machines with a convertible gaming chair
US20140135794A1 (en) * 2011-07-13 2014-05-15 Technische Universiteit Eindhoven Microsurgical Robot System
US9351796B2 (en) * 2011-07-13 2016-05-31 Technische Universiteit Eindhoven Microsurgical robot system
US9105200B2 (en) 2011-10-04 2015-08-11 Quantant Technology, Inc. Semi-automated or fully automated, network and/or web-based, 3D and/or 4D imaging of anatomy for training, rehearsing and/or conducting medical procedures, using multiple standard X-ray and/or other imaging projections, without a need for special hardware and/or systems and/or pre-processing/analysis of a captured image data
US10152131B2 (en) 2011-11-07 2018-12-11 Immersion Corporation Systems and methods for multi-pressure interaction on touch-sensitive surfaces
US9582178B2 (en) 2011-11-07 2017-02-28 Immersion Corporation Systems and methods for multi-pressure interaction on touch-sensitive surfaces
US9956341B2 (en) 2012-07-03 2018-05-01 Milestone Scientific, Inc. Drug infusion with pressure sensing and non-continuous flow for identification of and injection into fluid-filled anatomic spaces
US9245428B2 (en) 2012-08-02 2016-01-26 Immersion Corporation Systems and methods for haptic remote control gaming
US9753540B2 (en) 2012-08-02 2017-09-05 Immersion Corporation Systems and methods for haptic remote control gaming
US9820818B2 (en) 2012-08-03 2017-11-21 Stryker Corporation System and method for controlling a surgical manipulator based on implant parameters
US9566122B2 (en) 2012-08-03 2017-02-14 Stryker Corporation Robotic system and method for transitioning between operating modes
US9226796B2 (en) 2012-08-03 2016-01-05 Stryker Corporation Method for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path
US9480534B2 (en) 2012-08-03 2016-11-01 Stryker Corporation Navigation system and method for removing a volume of tissue from a patient
US9681920B2 (en) 2012-08-03 2017-06-20 Stryker Corporation Robotic system and method for reorienting a surgical instrument moving along a tool path
US9795445B2 (en) 2012-08-03 2017-10-24 Stryker Corporation System and method for controlling a manipulator in response to backdrive forces
US9119655B2 (en) 2012-08-03 2015-09-01 Stryker Corporation Surgical manipulator capable of controlling a surgical instrument in multiple modes
US9566125B2 (en) 2012-08-03 2017-02-14 Stryker Corporation Surgical manipulator having a feed rate calculator
US20150289946A1 (en) * 2012-11-30 2015-10-15 Surgical Science Sweden Ab User interface device for surgical simulation system
US9827050B2 (en) * 2012-11-30 2017-11-28 Surgical Science Sweden Ab User interface device for surgical simulation system
TWI504492B (en) * 2013-04-30 2015-10-21 Hiwin Tech Corp
US20160117956A1 (en) * 2013-06-07 2016-04-28 Surgical Science Sweden Ab A user interface for a surgical simulation system
US20160314710A1 (en) * 2013-12-20 2016-10-27 Intuitive Surgical Operations, Inc. Simulator system for medical procedure training
US20150224639A1 (en) * 2014-02-07 2015-08-13 Control Interfaces LLC Remotely operated manipulator and rov control systems and methods
US10235904B2 (en) 2014-12-01 2019-03-19 Truinject Corp. Injection training tool emitting omnidirectional light
US9982990B2 (en) * 2015-12-04 2018-05-29 Grifols Engineering, S.A. Syringe needle position and deviation correction method in a machine for the automatic preparation of intravenous medication
US20170158360A1 (en) * 2015-12-04 2017-06-08 Grifols Engineering, S.A. Syringe needle position and deviation correction method in a machine for the automatic preparation of intravenous medication
US9504790B1 (en) 2016-02-23 2016-11-29 Milestone Scientific, Inc. Device and method for identification of a target region

Also Published As

Publication number Publication date
US20060194180A1 (en) 2006-08-31
CA2265590A1 (en) 1998-03-12
US7500853B2 (en) 2009-03-10
US20040183777A1 (en) 2004-09-23
WO1998009580A1 (en) 1998-03-12
US7249951B2 (en) 2007-07-31
US6705871B1 (en) 2004-03-16

Similar Documents

Publication Publication Date Title
Okamura Haptic feedback in robot-assisted minimally invasive surgery
JP5215340B2 (en) Haptic devices utilizing electroactive polymer
US6113395A (en) Selectable instruments with homing devices for haptic virtual reality medical simulation
EP2177174B1 (en) Robotic instrument system
US5737505A (en) Tactile interface apparatus for providing physical feedback to a user based on an interaction with a virtual environment
US5436638A (en) Image display method and apparatus with means for yoking viewpoint orienting muscles of a user
US7106313B2 (en) Force feedback interface device with force functionality button
US5466213A (en) Interactive robotic therapist
JP4662622B2 (en) Interface apparatus and method for interfacing instruments to medical procedure simulation system
EP1012821B1 (en) Mouse interface device and method for providing enhanced cursor control
US6191774B1 (en) Mouse interface for providing force feedback
Basdogan et al. Virtual environments for medical training: Graphical and haptic simulation of laparoscopic common bile duct exploration
US8571628B2 (en) Apparatus and method for haptic rendering
US5734373A (en) Method and apparatus for controlling force feedback interface systems utilizing a host computer
US5800177A (en) Surgical simulator user input device
US6088019A (en) Low cost force feedback device with actuator for non-primary axis
US20050024331A1 (en) Method, apparatus, and article for force feedback based on tension control and tracking through cables
EP0864144B1 (en) Method and apparatus for providing force feedback for a graphical user interface
US5739811A (en) Method and apparatus for controlling human-computer interface systems providing force feedback
Laycock et al. Recent developments and applications of haptic devices
US6538634B1 (en) Apparatus for the simulation of image-guided surgery
US6020875A (en) High fidelity mechanical transmission system and interface device
US6380925B1 (en) Force feedback device with spring selection mechanism
US7084884B1 (en) Graphical object interactions
EP2422939B9 (en) Method and apparatus for haptic control

Legal Events

Date Code Title Description
AS Assignment

Owner name: IMMERSION HUMAN INTERFACE CORPORATION, CALIFORNIA

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:BEVIRT, JOEBEN;MOORE, DAVID F.;NORWOOD, JOHN Q.;AND OTHERS;REEL/FRAME:008286/0720;SIGNING DATES FROM 19961126 TO 19961211

AS Assignment

Owner name: IMMERSION CORPORATION, CALIFORNIA

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:IMMERSION HUMAN INTERFACE CORPORATION;REEL/FRAME:009556/0335

Effective date: 19980406

AS Assignment

Owner name: IMMERSION CORPORATION (DELAWARE CORPORATION), CALI

Free format text: MERGER;ASSIGNOR:IMMERSION CORPORATION (CALIFORNIA CORPORATION);REEL/FRAME:010310/0885

Effective date: 19991102

FPAY Fee payment

Year of fee payment: 4

FPAY Fee payment

Year of fee payment: 8

FPAY Fee payment

Year of fee payment: 12